Method of determining a joint torque in a joint of an articulated industrial robot

Patent metadata

Field	Value
Publication number	US-2020122337-A1
Application number	US-201916720019-A
Country	US
Kind code	A1
Filing date	Dec 19, 2019
Priority date	Jun 19, 2017
Publication date	Apr 23, 2020
Grant date	—

Abstract

A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

First claim

What is claimed is:

1 . A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, comprising:
controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

2 . The method of claim 1 , wherein the drive unit comprises a three phase alternating current motor and the electric currents of at least two electrical phases of the three phase alternating current motor are measured separately, and
wherein a first measured current for a first phase and a second measured current for a second phase are compared with a predetermined desired total current supplied to the electric drive unit.

3 . The method of claim 2 , wherein the electronic control device generates an error signal if a sum of a squared measured current of the first phase and a squared measured current of the second phase plus a product of the measured current of the first phase multiplied with the measured current of the second phase is not equal to three quarters of a squared predetermined desired total current supplied to the drive unit plus or minus a threshold value according to the following relation:
[• 500 (•)] • +• 500 (•)•• 500 (•)+[• 500 (•)] • •3/4•±•

4 . The method of claim 1 , wherein an end effector is mounted to the second arm, and
wherein the electronic control device determines an actual force from the determined actual torque value which acts upon the end effector.

5 . The method of claim 4 , wherein the control device includes a motion planning device for the articulated industrial robot, and
wherein a desired force which is applied by the end effector is provided to the motion planning device, from which the predetermined desired torque value for the joint is determined.

6 . The method of claim 5 , wherein the desired force applied by the end effector which is provided to the motion planning device is compared with the actual force applied to the end effector by the electronic control device.

7 . The method of claim 4 , wherein the articulated industrial robot comprises at least one further joint-arm-element which includes at least one further arm that is coupled to the second arm by a further joint and is movable by a further electric drive unit, the end effector being coupled to the further arm.

8 . The method of claim 2 , wherein the measuring device further determines an electrical phase angle of at least one phase of the three phase alternating current motor and/or measures the angular velocity of the joint, and
wherein the electrical phase angle and/or the angular velocity are provided to the electronic control device.

9 . The method of claim 1 , further comprising the following method steps:
providing a predetermined desired torque value for the joint, providing an interval for a permissible deviation of a calculated actual torque value from the predetermined desired torque value, controlling the electric drive unit through the electronic control device by the predetermined desired torque value, measuring an actual current of the electric drive unit, calculating the actual torque value of the joint from the measured actual current of the electric drive unit, determining a deviation between the actual torque value and the predetermined desired torque value, comparing the determined deviation with the interval to for a permissible deviation, outputting an error signal and/or stopping the articulated industrial robot if the deviation is outside of the interval to for a permissible deviation.

10 . The method of claim 1 , wherein the electric drive unit is included in the joint, and/or
wherein the electric drive unit includes a gearbox.

11 . The method of claim 4 , wherein actual force is determined in Cartesian coordinates.

12 . The method of claim 5 , wherein the desired force is provided in Cartesian coordinates.

Assignees

• Abb Schweiz Ag

Inventors

• Matthias Bjoern
• Ding Hao
• Mellander Roger
• Groth Tomas

Classifications

• G05B2219/37632

  By measuring current, load of motor · CPC title

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title