WO2007057390A3 - Method and device for controlling motion of an industrial robot with a position switch - Google Patents

Method and device for controlling motion of an industrial robot with a position switch Download PDF

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Publication number
WO2007057390A3
WO2007057390A3 PCT/EP2006/068443 EP2006068443W WO2007057390A3 WO 2007057390 A3 WO2007057390 A3 WO 2007057390A3 EP 2006068443 W EP2006068443 W EP 2006068443W WO 2007057390 A3 WO2007057390 A3 WO 2007057390A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
industrial robot
position switch
controlling motion
arm
Prior art date
Application number
PCT/EP2006/068443
Other languages
French (fr)
Other versions
WO2007057390A2 (en
WO2007057390B1 (en
Inventor
Magnus Hellberg
Mats Thulin
Michael Fors
Pierre Mikaelsson
Tommy Thors
Soenke Kock
Kevin Behnisch
Peter Eriksson
Jan Bredahl
Bo Toresson
Original Assignee
Abb Ab
Magnus Hellberg
Mats Thulin
Michael Fors
Pierre Mikaelsson
Tommy Thors
Soenke Kock
Kevin Behnisch
Peter Eriksson
Jan Bredahl
Bo Toresson
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Ab, Magnus Hellberg, Mats Thulin, Michael Fors, Pierre Mikaelsson, Tommy Thors, Soenke Kock, Kevin Behnisch, Peter Eriksson, Jan Bredahl, Bo Toresson filed Critical Abb Ab
Priority to CN200680042941.5A priority Critical patent/CN101309783B/en
Priority to EP06819462A priority patent/EP1951482A2/en
Priority to US12/085,145 priority patent/US8036776B2/en
Publication of WO2007057390A2 publication Critical patent/WO2007057390A2/en
Publication of WO2007057390A3 publication Critical patent/WO2007057390A3/en
Publication of WO2007057390B1 publication Critical patent/WO2007057390B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Abstract

A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.
PCT/EP2006/068443 2005-11-16 2006-11-14 Method and device for controlling motion of an industrial robot with a position switch WO2007057390A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN200680042941.5A CN101309783B (en) 2005-11-16 2006-11-14 Method and device for controlling motion of an industrial robot equiped with positioning switch
EP06819462A EP1951482A2 (en) 2005-11-16 2006-11-14 Method and device for controlling motion of an industrial robot
US12/085,145 US8036776B2 (en) 2005-11-16 2006-11-14 Method and device for controlling motion of an industrial robot with a position switch

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US73683505P 2005-11-16 2005-11-16
US60/736,835 2005-11-16

Publications (3)

Publication Number Publication Date
WO2007057390A2 WO2007057390A2 (en) 2007-05-24
WO2007057390A3 true WO2007057390A3 (en) 2007-07-12
WO2007057390B1 WO2007057390B1 (en) 2007-08-23

Family

ID=37951704

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/068443 WO2007057390A2 (en) 2005-11-16 2006-11-14 Method and device for controlling motion of an industrial robot with a position switch

Country Status (4)

Country Link
US (1) US8036776B2 (en)
EP (1) EP1951482A2 (en)
CN (1) CN101309783B (en)
WO (1) WO2007057390A2 (en)

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Also Published As

Publication number Publication date
US20100217434A1 (en) 2010-08-26
WO2007057390A2 (en) 2007-05-24
US8036776B2 (en) 2011-10-11
EP1951482A2 (en) 2008-08-06
CN101309783A (en) 2008-11-19
WO2007057390B1 (en) 2007-08-23
CN101309783B (en) 2013-09-11

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