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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Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera
Publication number: 20080252248Abstract: A device and a method for tool center point calibration of an industrial robot. The device is intended to calibrate an industrial robot with respect to a tool mounted on the robot. The device includes a camera designed to take a plurality of images of at least part of the robot tool for a plurality of different tool orientations, an image-processing unit designed to determine the positions of the robot tool in the orientations based on the images, a calculation module adapted to calculate the position of the center point of the robot tool, based on the determined positions, and a control module adapted to calculate the corrective movements of the robot.Type: ApplicationFiled: January 24, 2006Publication date: October 16, 2008Applicant: ABB ABInventors: Ivan Lundberg, Niklas Durinder, Torgny Brogardh -
Publication number: 20080201015Abstract: 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: ApplicationFiled: February 21, 2006Publication date: August 21, 2008Inventor: Torgny Brogardh
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Patent number: 7340323Abstract: An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.Type: GrantFiled: January 16, 2007Date of Patent: March 4, 2008Assignee: ABB Research Ltd.Inventors: Hui Zhang, Zhongxue Gan, Torgny Brogardh, Jianjun Wang
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Publication number: 20080028824Abstract: A method for calibration of an industrial robot having a plurality of sections movably connected to each other for rotation about a plurality of movement axes. An angle measuring member is mounted on the robot so that it measures angular changes of the axis or axes to be calibrated, relative to a vertical line. A reference direction is measured. At least one of the axes is selected as a calibration axis and another of the axes is selected as a measuring axis. The robot is moved between at least two calibration positions. The moving includes rotating the robot about the measuring axis. The calibration positions are selected such that the direction of the calibration axis differs from the vertical line. Angular values are read from the angle measuring member in the calibration positions. The calibration axis are calibrated based on the angular values and the measured reference direction.Type: ApplicationFiled: October 21, 2005Publication date: February 7, 2008Applicant: ABB RESEARCH LTD.Inventors: Torgny Brogardh, Peter Fixell, Niklas Durinder
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Patent number: 7300240Abstract: An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.Type: GrantFiled: December 16, 2004Date of Patent: November 27, 2007Assignee: ABB ABInventor: Torgny Brogårdh
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Publication number: 20070260356Abstract: 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: ApplicationFiled: May 19, 2004Publication date: November 8, 2007Applicant: ABB ABInventors: Sonke Kock, Christian Muller, Torgny Brogardh, Jesper Bergsjo, Andreas Olevik, Stig Moberg
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Publication number: 20070255453Abstract: 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: ApplicationFiled: June 3, 2005Publication date: November 1, 2007Applicant: ABB ABInventor: Torgny Brogardh
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Publication number: 20070225862Abstract: An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.Type: ApplicationFiled: January 16, 2007Publication date: September 27, 2007Inventors: Hui Zhang, Zhongxue Gan, Torgny Brogardh, Jianjun Wang
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Patent number: 7272524Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.Type: GrantFiled: December 17, 2003Date of Patent: September 18, 2007Assignee: ABB ABInventor: Torgny Brogårdh
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Patent number: 7181314Abstract: An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.Type: GrantFiled: November 24, 2003Date of Patent: February 20, 2007Assignees: ABB Research Ltd., ABB Automation Technologies AB RoboticsInventors: Hui Zhang, Zhongxue Gan, Torgny Brogardh, Jianjun Wang
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Patent number: 7130718Abstract: A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.Type: GrantFiled: April 9, 2001Date of Patent: October 31, 2006Assignee: ABB ABInventors: Svante Gunnarsson, Mikael Norrlof, Geir Hovland, Ulf Carlsson, Torgny Brogardh, Tommy Svensson, Stig Moberg
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Publication number: 20060181236Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.Type: ApplicationFiled: December 17, 2003Publication date: August 17, 2006Applicant: ABB ABInventor: Torgny Brogardh
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Patent number: 7084595Abstract: Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.Type: GrantFiled: March 14, 2002Date of Patent: August 1, 2006Assignee: ABB ABInventors: Torgny Brogårdh, Magnus Ahlbäck, Jesper Bergsjö, Staffan Elfving, Anders Lager, Stig Moberg, Mats Myhr, Dan Rylander
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Publication number: 20060104793Abstract: 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: ApplicationFiled: January 16, 2002Publication date: May 18, 2006Inventors: Hans Skutberg, Asa Vallin, Torgny Brogardh, Mathilda Andreasson, Ivan Lundberg
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Patent number: 7011489Abstract: An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted 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 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 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 rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.Type: GrantFiled: January 15, 2002Date of Patent: March 14, 2006Assignee: ABB ABInventors: Torgny Brogårdh, Daniel Wäppling, Feng Xialong, Bo Holmgren
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Patent number: 6974297Abstract: An industrial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator.Type: GrantFiled: October 19, 2001Date of Patent: December 13, 2005Assignee: ABB ABInventor: Torgny Brogårdh
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Patent number: 6941192Abstract: A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.Type: GrantFiled: January 31, 2003Date of Patent: September 6, 2005Assignee: ABB Research Ltd.Inventors: Qing Tang, Hakan Brantmark, Zhongxue Gan, Torgny Brogardh
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Publication number: 20050172750Abstract: An industrial robot including a parallel kinematic manipulator (2) of an object (7a) in space, where the manipulator (2) includes a stationary platform (6), a movable platform (7) for carrying the object (7a), at least three arms (3, 4, 5) connecting the platforms (6,7). Each arm comprises a first arm part ( ) connected to the stationary platform for manipulating the movable platform (7).Type: ApplicationFiled: February 5, 2003Publication date: August 11, 2005Applicant: ABB ABInventors: Sonke Kock, Roland Oesterlein, Torgny Brogardh
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Publication number: 20050129495Abstract: An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.Type: ApplicationFiled: December 16, 2004Publication date: June 16, 2005Applicant: ABB ABInventor: Torgny Brogardh
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Publication number: 20050113971Abstract: An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.Type: ApplicationFiled: November 24, 2003Publication date: May 26, 2005Inventors: Hui Zhang, Zhongxue Gan, Torgny Brogardh, Jianjun Wang