Control System, Method and Computer Program

• US 20070250213A1
• Filed: 12/09/2004
• Published: 10/25/2007
• Est. Priority Date: 12/15/2003
• Status: Active Grant

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Hedenfalk, Fredrik, Poljen, Christian
• Granted Patent: US 7,957,838 B2
• Time in Patent Office: Days
• US Class Current: 700/264
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 2219/35489 Discriminate, different colour, highlight between two states
• CPC Class Codes: G05B 2219/39448 Same teach pendant connects to many robot controllers over network
• CPC Class Codes: G05B 2219/40314 Simulation of program locally before remote operation
• CPC Class Codes: G05B 2219/40515 Integration of simulation and planning

Abstract

A control system for a plurality of mechanical units, namely robots and/or external axes. A manually-operated control, such as a joy-stick or key panel, is adapted to move at least one of the mechanical units or part thereof. The control system includes an indicator adapted to indicate whether the at least one mechanical unit or part thereof that is to be moved is associated with any other mechanical unit(s) or part(s) thereof and consequently indicate that movement of the at least one mechanical unit or part thereof will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

Claims

1. A control system for a plurality of mechanical units, namely robots and/or external axes, comprising manually-operated control means, such as a joy-stick or key panel, adapted to move at least one of said mechanical units or part thereof, the control system comprising:

indication means adapted to indicate whether said at least one mechanical unit, or part thereof, that is to be moved is associated with any other mechanical unit(s), or part(s) thereof, and consequently indicate that the movement of said at least one mechanical unit, or part thereof, will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

2. The control system according to claim 1, wherein said indication means provides at least one of the following signals or a combination thereof:

visual, acoustic, tactile.

3. The control system according to claim 1, wherein the indication means comprises a graphical and/or text interface that displays which mechanical units, or parts thereof, are associated with one another by means of graphical symbols and/or text messages representing the plurality of mechanical units or parts thereof.

4. The control system according to claim 3, wherein the graphical and/or text interface is arranged to indicate information on how the, or each, mechanical unit, or part thereof, associated with said at least one mechanical unit, or part thereof, that is to be moved will move on movement of said at least one mechanical unit or part thereof.

5. The control system according to claim 1, wherein indication means are arranged on each of the mechanical units or part thereof to display which mechanical units are associated with one another, either constantly or when such information is requested.

6. The control system according to claim 1, wherein the indication means is mounted on a stationary or portable programming unit.

7. The control system according to claim 1, further comprising:

confirmation means to confirm that an operator is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manually-operated control means.

8. The control system according to claim 7, further comprising:

disengagement means adapted to disengage the manually-operated control means until the operator has confirmed that he/she is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manually-operated control means.

9. The control system according to claim 1, further comprising:

disassociation means adapted to disassociate one or more of the mechanical units or parts thereof that are associated with the mechanical unit or part thereof that is to be moved from said at least one mechanical unit or part thereof that is to be moved.

10. The control system according to claim 1, further comprising:

association means adapted to associate one or more of the mechanical units or part thereof to said at least one mechanical unit or part thereof that is to be moved.

11. The control system according to claim 7, wherein the confirmation means is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

12. The control system according to claim 1, wherein the manually-operated control means is portable.

13. The control system according to claim 1, wherein the manually-operated control means is located in the vicinity of the plurality of mechanical units.

14. The control system according to claim 1, wherein the manually-operated control means is located at a location remote to the plurality of mechanical units.

22. Use of a control system according to claim 1 in any system comprising a plurality of mechanical units, namely robots and/or external axes, which are programmed to carry out at least one task where at least two of said mechanical units or parts thereof move synchronously.

23. The control system according to claim 9, wherein the disassociation means is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

24. The control system according to claim 10, wherein the association means is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

15. A method for moving at least one of a plurality of mechanical units or part thereof, namely robots and/or external axes, using manually-operated control means, the method comprising:

indicating information on which mechanical units or parts thereof are associated with one another and consequently indicates that movement of said at least one mechanical unit or part thereof will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

16. The method according to claim 15, further comprising:

informing how the, or each, mechanical unit or part thereof associated with said at least one mechanical unit or part thereof that is to be moved will move on movement of said at least one mechanical unit or part thereof.

17. The method according to claim 15, further comprising:

an operator having to confirm that he/she is aware of which mechanical units or parts thereof are associated with said at least one mechanical unit or part thereof that is to be moved before the manually-operated control means are activated.

18. The method according to claim 17, wherein said confirmation is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or touching an icon on a touch screen.

19. A computer program product, comprising:

a computer readable medium; and

computer program code recorded on the computer readable medium for making a computer or processor carry out the step of

indicating information on which mechanical units or parts thereof are associated with one another and consequently indicates that movement of said at least one mechanical unit or part thereof will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

20. The computer program product according to claim 19, wherein the computer program code further makes the computer or processor carry out the step of

prompting an operator to do at least one of the following:

select a mechanical unit or part thereof that is to be moved, associate or disassociate one or more other mechanical unit or part thereof with/from the mechanical unit or part thereof to be moved;

confirming the selection of mechanical units or parts thereof to be moved before the operator'"'"'s command is executed.

21. (canceled)