<p>A method, control unit and control system for an industrial robot comprising using a dynamic model to provide control signals for moving a part of the robot dependent one or more known physical parameters for said part of the robot. The method is particularly applicable to a change in load or tool for a robot. The method comprises making a change to a load acting on a said part of the robot, identifying a physical parameter and inputting one or more predetermined values for the physical parameter, values being derived beforehand and by on treating the change in load as an addition of one or more rigid bodies acting on said part of the robot. A control unit and a system for control are also described.</p>
申请公布号
WO2006117022(A1)
申请公布日期
2006.11.09
申请号
WO2005EP51999
申请日期
2005.05.02
申请人
ABB RESEARCH LTD;HANSSEN, SVEN;BROGAARDH, TORGNY;WAEPPLING, DANIEL;LARSSON, JONAS;LUNDBERG, IVAN
发明人
HANSSEN, SVEN;BROGAARDH, TORGNY;WAEPPLING, DANIEL;LARSSON, JONAS;LUNDBERG, IVAN