Patents by Inventor Torgny Brogardh
Torgny Brogardh has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20160089776Abstract: An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.Type: ApplicationFiled: May 23, 2013Publication date: March 31, 2016Applicant: ABB Technology LtdInventor: Torgny Brogardh
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Patent number: 9207668Abstract: A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.Type: GrantFiled: February 10, 2006Date of Patent: December 8, 2015Assignee: ABB Research Ltd.Inventors: Hui Zhang, Torgny Brogardh, Jianjun Wang, George Zhang
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Patent number: 8868236Abstract: A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.Type: GrantFiled: January 8, 2013Date of Patent: October 21, 2014Assignee: ABB Research Ltd.Inventor: Torgny Brogårdh
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Patent number: 8776616Abstract: The disclosure relates to a multiaxial force-torque sensor having a transducer structure, with strain gauges placed in defined areas to measure the strain, from which the forces and torques are calculated, and where the transducer structure can include (e.g., consist of) two concentric rings connected with spokes. The transducer structure can be a planar mechanical structure, and all strain gauges can be applied to the same surface of the transducer structure to measure non-radial strain components.Type: GrantFiled: June 8, 2012Date of Patent: July 15, 2014Assignee: ABB AGInventors: Paul Szasz, Manfred Wetzko, Peter Krippner, Torgny Brogardh, Markus Roos
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Patent number: 8726741Abstract: A multiaxial force/torque sensor assembly and method for assembling such a sensor assembly are disclosed. The sensor assembly includes a set of at least two sensors each being made of strain gauges, which are each arranged at a definite angle and distance relative to each other and which are each fixed to a transducer body, which is mechanical contact with a printed circuit board. The printed circuit board includes clearances for each strain gauge as well as associated electronic components and wiring located on the remaining area of the printed circuit board which will monitor compressive and tensile stresses in the measurement directions of the sensors. The method includes positioning the strain gauges on the plane measurement surface of a transducer body in a definite arrangement; fixing the strain gauges to the transducer body by means of adhesives, and connecting the strain gauges to respective conductors by means of electrically bonding.Type: GrantFiled: August 5, 2011Date of Patent: May 20, 2014Assignee: ABB AGInventors: Peter Krippner, Paul Szasz, Manfred Wetzko, Torgny Brogardh
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Publication number: 20130189063Abstract: An industrial robot including a manipulator for movement of an object in space. The manipulator includes a movable platform arranged for carrying the object, a first arm arranged for influencing the platform in a first direction and including a first inner arm part rotatable about a first axis, a second arm arranged for influencing the platform in a second direction and including a second inner arm part rotatable about a second axis, a third arm arranged for influencing the platform in a third direction and including a third inner arm part rotatable about a third axis.Type: ApplicationFiled: March 8, 2013Publication date: July 25, 2013Inventors: Torgny Brogardh, Mats Isaksson
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Patent number: 8467901Abstract: A method for calibration of a base coordinate system of an industrial robot in relation to a work area includes: mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot, mounting a second part of the kinematic coupling in the work area, moving the robot including the base portion to the work area, set the robot in compliant control mode, move the first part of the kinematic coupling to mate with the second part, storing axis positions of the robot during mating of the kinematic coupling, determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.Type: GrantFiled: September 11, 2012Date of Patent: June 18, 2013Assignee: ABB Research Ltd.Inventor: Torgny Brogardh
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Publication number: 20130006421Abstract: A method for calibration of a base coordinate system of an industrial robot in relation to a work area includes: mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot, mounting a second part of the kinematic coupling in the work area, moving the robot including the base portion to the work area, set the robot in compliant control mode, move the first part of the kinematic coupling to mate with the second part, storing axis positions of the robot during mating of the kinematic coupling, determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.Type: ApplicationFiled: September 11, 2012Publication date: January 3, 2013Inventor: Torgny Brogardh
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Publication number: 20120266694Abstract: The disclosure relates to a multiaxial force-torque sensor having a transducer structure, with strain gauges placed in defined areas to measure the strain, from which the forces and torques are calculated, and where the transducer structure can include (e.g., consist of) two concentric rings connected with spokes. The transducer structure can be a planar mechanical structure, and all strain gauges can be applied to the same surface of the transducer structure to measure non-radial strain components.Type: ApplicationFiled: June 8, 2012Publication date: October 25, 2012Applicant: ABB AGInventors: Paul SZASZ, Manfred WETZKO, Peter KRIPPNER, Torgny BROGARDH, Markus ROSS
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Patent number: 8099188Abstract: An industrial robot for moving an object in space. A platform is arranged for carrying the object. A first arm is arranged for influencing the platform in a first movement. The first arm includes a first actuator and three links. Each link includes an outer joint connected to the platform and an inner joint connected to the first actuator. A second arm is arranged for influencing the platform in a second movement. The second arm includes a second actuator and two links. Each link includes an outer joint connected to the platform and an inner joint connected to the second actuator. A third arm is arranged for influencing the platform in a third movement. The third arm includes one link including an outer joint connected to the platform. At least one of the links is arranged with an adjustable length and includes a linear actuator for controlling the length of the link.Type: GrantFiled: June 3, 2005Date of Patent: January 17, 2012Assignee: ABB ABInventor: Torgny Brogardh
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Publication number: 20110314935Abstract: A multiaxial force/torque sensor assembly and method for assembling such a sensor assembly are disclosed. The sensor assembly includes a set of at least two sensors each being made of strain gauges, which are each arranged at a definite angle and distance relative to each other and which are each fixed to a transducer body, which is mechanical contact with a printed circuit board. The printed circuit board includes clearances for each strain gauge as well as associated electronic components and wiring located on the remaining area of the printed circuit board which will monitor compressive and tensile stresses in the measurement directions of the sensors. The method includes positioning the strain gauges on the plane measurement surface of a transducer body in a definite arrangement; fixing the strain gauges to the transducer body by means of adhesives, and connecting the strain gauges to respective conductors by means of electrically bonding.Type: ApplicationFiled: August 5, 2011Publication date: December 29, 2011Applicant: ABB AGInventors: Peter KRIPPNER, Paul Szasz, Manfred Wetzko, Torgny Brogardh
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Publication number: 20110142534Abstract: A method for manufacturing a joint. A ball is mounted on a pin. Spherical surfaces on at least two socket parts are machined. Grinding paste is applied on the ball and/or on the surfaces of the socket parts. The pin is connected to an equipment that rotates the ball. The ball is assembled between the socket parts. A pressure is applied between the socket parts and the ball. The ball is rotated and tilted over the working range of the joint. The ball and the socket parts are cleaned from the grinding paste. The joint is assembled by mounting the socket parts on a ball. A robot obtainable with the method.Type: ApplicationFiled: June 3, 2009Publication date: June 16, 2011Applicant: ABB TECHNOLOGY ABInventors: Torgny Brogårdh, Ove Kullborg, Ove Ode
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Patent number: 7872436Abstract: An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.Type: GrantFiled: May 19, 2004Date of Patent: January 18, 2011Assignee: ABB ABInventors: Sönke Kock, Christian H Müller, Torgny Brogårdh, Jesper Bergsjö, Andreas Olevik, Stig Moberg
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Patent number: 7756608Abstract: A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.Type: GrantFiled: February 21, 2006Date of Patent: July 13, 2010Assignee: ABB ABInventor: Torgny Brogårdh
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Patent number: 7685902Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.Type: GrantFiled: February 5, 2003Date of Patent: March 30, 2010Assignee: ABB ABInventors: Sönke Kock, Roland Oesterlein, Torgny Brogårdh
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Patent number: 7637710Abstract: An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.Type: GrantFiled: January 16, 2002Date of Patent: December 29, 2009Assignee: ABB ABInventors: Hans Skutberg, Åsa Vallin, Torgny Brogårdh, Mathilda Andreasson, Ivan Lundberg
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Publication number: 20090259412Abstract: A system for controlling position and orientation of an object. A first part is adapted to receive forces and torques from a user. A sensor is adapted to measure forces and torques caused by changes in position and orientation of the first part relative to a second part. A data processing unit is arranged to receive measured data from the sensor and based thereon to control the position and orientation of the object. The sensor includes a semiconductor chip with integrated sensor elements. The measuring assembly includes a spring arrangement mounted between the first and second parts and mechanically connected to the sensor for converting forces and torques from the user to changes in position and orientation of the first part relative to the second part. The sensor is adapted to measure forces and torques from the spring arrangement caused by the changes in position and orientation of the first part.Type: ApplicationFiled: February 19, 2007Publication date: October 15, 2009Applicant: ABB ABInventor: Torgny Brogardh
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Publication number: 20090211390Abstract: The invention relates to a joint having a male unit and a female unit. The external surface of the male unit is of complementary shape to the internal surface of the female unit. The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit has two socket parts. According to the invention biasing means is provided for biasing each of the socket parts towards the male unit.Type: ApplicationFiled: May 7, 2009Publication date: August 27, 2009Inventors: Torgny Brogardh, Ove Kullborg, Ove Ode
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Publication number: 20090125146Abstract: A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.Type: ApplicationFiled: February 10, 2006Publication date: May 14, 2009Inventors: Hui Zhang, Torgny Brogardh, Jianjun Wang, George Zhang
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Patent number: D759139Type: GrantFiled: November 25, 2014Date of Patent: June 14, 2016Assignee: ABB Technology LtdInventors: Torgny Brogardh, Ove Ode, Johan Ernlund