Method of identifying robot model automatically and safely

Patent metadata

Field	Value
Publication number	US-11897137-B2
Application number	US-202017005442-A
Country	US
Kind code	B2
Filing date	Aug 28, 2020
Priority date	Apr 17, 2018
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

The present application relates to a method for robot control. The method includes: obtaining at least one parameter associated with a robot to be controlled by a controller; determining a first identity of the robot based on the at least one parameter; comparing the first identity with a pre-stored second identity; and in response to the first identity matching the second identity, controlling operations of the robot with the controller. The present application further discloses detection of a mismatch between the controller and the robot in an easy, safe and convenient way.

First claim

What is claimed is:

1. A method for robot control, comprising:
obtaining at least one parameter from at least one motor in response to a request from a controller, the at least one parameter associated with a characteristic of the at least one motor arranged in a robot to be controlled by a controller;
determining a first identity of the robot based on the at least one parameter,
wherein the first identity identifies the at least one motor arranged in the robot;

comparing the first identity with a second identity,
wherein the second identity is stored in the controller;

determining an identity of the robot to be controlled by the controller from other robots based on the comparison,
wherein the robot is distinguished from the other robots based on the at least one parameter associated with the at least one motor arranged in the robot; and

in response to the first identity matching the second identity, controlling operations of the robot with the controller;
wherein obtaining the at least one parameter comprises:
sending at least one excitation signal to at least one motor of the robot from the controller,
receiving at least one feedback signal that is provided by the at least one motor in response to the at least one excitation signal, and
determining the at least one parameter based on the at least one feedback signal and the at least one excitation signal.

2. The method according to claim 1 , wherein determining the first identity of the robot comprises:
retrieving, based on the at least one parameter, a model of the at least one motor of the robot from a database accessible to the controller.

3. The method according to claim 1 , wherein the at least one excitation signal comprises at least one excitation signal to windings of the at least one motor.

4. The method according to claim 3 , wherein determining the first identity of the robot comprises:
determining resistance and inductance of the windings based on the at least one feedback signal and the at least one excitation signal; and
determining the first identity based on the resistance and the inductance of the windings.

5. The method according to claim 1 , wherein the at least one motor comprises all motors of the robot.

6. The method according to claim 1 , further comprising:
in response to the first identity mismatching the second identity, reporting an error and/or disabling operations of the robot.

7. A robotic system, comprising:
a robot comprising:
at least one motor; and

a controller attached to the robot and configured to:
obtain at least one parameter from the at least one motor in response to a request from a controller, the at least one parameter associated with a characteristic of the at least one motor arranged in the robot to be controlled by the controller;
determine a first identity of the robot based on the at least one parameter,
wherein the first identity identified the at least one motor arranged in the robot;

compare the first identity with a second identity,
wherein the second identity is stored in the controller;

determine an identity of the robot to be controlled by the controller from other robots based on the comparison,
wherein the robot is distinguished from the other robots based on the at least one parameter associated with the at least one motor arranged in the robot; and

in response to the first identity matching the second identity, control operations of the robot with the controller;
wherein obtaining the at least one parameter comprises:
sending at least one excitation signal to at least one motor of the robot from the controller,
receiving at least one feedback signal that is provided by the at least one motor in response to the at least one excitation signal, and

determining the at least one parameter based on the at least one feedback signal and the at least one excitation signal.

8. A computer program product tangibly stored in a non-transient computer readable medium and including machine executable instructions which, when executed, cause a machine to perform the method according to claim 1 .

9. The computer program product according to claim 8 , wherein determining the first identity of the robot comprises:
retrieving, based on the at least one parameter, a model of the at least one motor from a database accessible to the controller; and
determining the first identity from the model.

10. The computer program product according to claim 8 wherein the at least one excitation signal comprises at least one excitation signal to windings of the at least one motor.

11. The computer program product according to claim 10 , wherein determining the first identity of the robot comprises:
determining resistance and inductance of the windings based on the at least one feedback signal and the at least one excitation signal; and
determining the first identity based on the resistance and the inductance of the windings.

Assignees

• Abb Schweiz Ag

Inventors

• Ma Bojun
• Pan Wengui
• Wang Yanjun

Classifications

• B25J9/1653 Primary

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• G05B2219/33105

  Identification of type of connected module, motor, panel · CPC title