Method for control of an industrial robot

• US 6,230,079 B1
• Filed: 06/09/1998
• Issued: 05/08/2001
• Est. Priority Date: 01/31/1996
• Status: Expired due to Fees

• Current Assignee: Asea Brown Boveri AB (ABB Limited)
• Original Assignee: Asea Brown Boveri AB (ABB Limited)
• Inventors: Henriksson, Tord, Brog.ang.rdh, Torgny, Dahlquist, H.ang.kan, Elfving, Staffan
• Primary Examiner(s): Grant, William
• Assistant Examiner(s): CABRERA, ZOILA E
• Application Number:
  US09/077,733
• Time in Patent Office: 1,064 Days
• Field of Search: 700/33, 700/79, 700/245, 700/250, 700/256, 700/260, 700/261, 700/262, 318/568.19, 318/568.24, 318/568.22
• US Class Current: 700/260
• CPC Class Codes: B25J 9/1628 characterised by the control loop
• CPC Class Codes: G05B 2219/37252 Life of tool, service life, decay, wear estimation
• CPC Class Codes: G05B 2219/39247 Control speed, acceleration as function of load and rate of fatigue

Abstract

A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (τ_i) during a predetermined period of time (Δt) is calculated on the basis of the output signals (φ₁,φ₂ . . . φ₆) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue $\left(\frac{\Delta D_i}{\Delta t}\right)$

of the point is calculated on the basis of the calculated load and with knowledge of the fatigue strength (N_ij) of the material at the critical point. The performance (φ_axis,max, τ_axis,max) of the robot is adjusted in dependence on the rate of fatigue and the desired service life (t_life) of the robot.

Claims

1. A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes for supplying an output signal defining a current position of the axis to a control system for control of the axes of the robot, wherein continuously during operation of the robot, the following steps are taken for at least one mechanically critical point (i) of the robot:

calculating a relevant load (τ

_i) during a predetermined period of time (Δ

t) on the basis of a position (φ

₁, φ

₂ . . . φ

₆) of the robot and a mathematical model of the robot,

calculating a rate of fatigue $\frac{\left(\mathrm{\Delta <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Di}\right)}{\left(\mathrm{\Delta <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>t\right)}$

of the point on the basis of the calculated load and with knowledge of a fatigue strength (N_ij) of material at the critical point, and

adjusting a performance (φ

_axis,max, τ

_axis,max) of the robot in dependence on the rate of fatigue and a desired service life (t_life) of the robot.

2. A method according to claim 1, wherein the rate of fatigue $(\frac{\Delta }{}$



 



DiΔ



 



t)

is calculated starting from a number of load cycles (Δ

n_ij) within a load interval (τ

<sub>j−

1</sub>−

τ

_j) during said period (Δ

t).

3. A method according to claim 2, wherein utilization factor (k_life) is calculated in dependence on the calculated rate of fatigue $(\frac{\Delta }{}$



 



DiΔ



 



t)

and a maximum permissible rate of fatigue ${\left(\frac{\mathrm{\Delta <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>D_i}{\mathrm{\Delta <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>t}\right)}_{\max }$

for the desired service life (t_life) of the robot.

4. A method according to claim 3, wherein the maximum permissible rate of fatigue $({(\frac{\Delta }{}}_{}$



 



DiΔ



 



t)max)

is calculated as a quotient between the maximum permissible fatigue (D_imax) and the desired service life (t_life) of the robot.

5. A method according to claim 3, wherein the utilization factor (k_life) is calculated for a plurality of critical points and that the performance ({dot over (φ

)}_max, τ

_axis,max) of the robot is adjusted in dependence on a point which has the highest utilization.

6. A method according to claim 1, wherein the desired service life (t_life) of the robot is determined when the robot is new.

7. A method according to claim 2, wherein the number of load cycles (Δ

n_ij) within the load interval (τ

<sub>j−

1</sub>−

τ

_j) are accumulated during the whole service life of the robot and that a relevant fatigue (D_i) is calculated in dependence on the accumulated load.

8. A method according to claim 7, wherein a remaining service life (t_resti) of the robot is calculated in dependence on the rate of fatigue $(\frac{\Delta }{}$



 



DiΔ



 



t)

and the difference between a maximum permissible fatigue (D_imax) and the relevant fatigue (D_i).

9. A method according to claim 8, wherein the remaining service life (t_resti) of the robot is calculated for a plurality of critical points and that a shortest remaining service life determines the remaining service life (t_rest) of the robot.

10. A method according to claim 1, wherein the performance ({dot over (φ

)}_axis,max, τ

_axis,max) of the robot is adjusted in dependence on an optional desired service life (t_life).

11. A method according to claim 10, wherein a utilization factor (k_life) is calculated in dependence on the optional service life (t_life) and a calculated remaining service life (t_rest) and that the performance ({dot over (φ

)}_max, τ

_axis,max) of the robot is adjusted in dependence on the utilization factor.

12. A method according to claim 3, wherein, in dependence on whether the utilization factor (k_life) is greater or smaller than a given value, the performance of the robot is increased or reduced.

13. A method according claim 1, wherein the performance of the robot is changed by changing maximum rotational speeds ({dot over (φ

)}_max) and maximum torques (τ

_axis,max) of the robot.

14. A method according to claim 13, wherein the relation between the adjustments of the maximum rotational speeds ({dot over (φ

)}_max) and the maximum torques (τ

_axis,max) of the robot is determined in dependence on the relation between the effect of an acceleration, (M_i(φ

)•

{umlaut over (φ

)}), a gravitation (G_i(φ

)) and a centrifugal force (V_i(φ

)•

({dot over (φ

)})²) on the relevant load (τ

_i).