Evaluation of dynamic brake torque in a robot
The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a...
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| creator | Moberg, Stig |
| description | The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation. |
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The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation.</description><language>eng ; fre ; ger</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; HAND TOOLS ; MANIPULATORS ; MEASURING ; MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; PERFORMING OPERATIONS ; PHYSICS ; PORTABLE POWER-DRIVEN TOOLS ; REGULATING ; TESTING ; TRANSPORTING</subject><creationdate>2019</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190515&DB=EPODOC&CC=EP&NR=2993000B1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76516</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190515&DB=EPODOC&CC=EP&NR=2993000B1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Moberg, Stig</creatorcontrib><title>Evaluation of dynamic brake torque in a robot</title><description>The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation.</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>MEASURING</subject><subject>MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>REGULATING</subject><subject>TESTING</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2019</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZNB1LUvMKU0syczPU8hPU0ipzEvMzUxWSCpKzE5VKMkvKixNVcjMU0hUKMpPyi_hYWBNS8wpTuWF0twMCm6uIc4euqkF-fGpxQWJyal5qSXxrgFGlpbGBgYGTobGRCgBAFNVKWE</recordid><startdate>20190515</startdate><enddate>20190515</enddate><creator>Moberg, Stig</creator><scope>EVB</scope></search><sort><creationdate>20190515</creationdate><title>Evaluation of dynamic brake torque in a robot</title><author>Moberg, Stig</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_EP2993000B13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre ; ger</language><creationdate>2019</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>MEASURING</topic><topic>MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>REGULATING</topic><topic>TESTING</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>Moberg, Stig</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Moberg, Stig</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Evaluation of dynamic brake torque in a robot</title><date>2019-05-15</date><risdate>2019</risdate><abstract>The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation.</abstract><oa>free_for_read</oa></addata></record> |
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| language | eng ; fre ; ger |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MEASURING MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TESTING TRANSPORTING |
| title | Evaluation of dynamic brake torque in a robot |
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