查看更多>>摘要:According to news reporting originating from Washington, D.C., by NewsRx journalists, a patent application by the inventors Bjorkman, Mattias (Vasteras, SE); Clever, Debora (Zwingenberg, DE); Enayati, Nima (Mannheim, DE); Haulin, Jonas (Shanghai, CN); Norrlof, Mikael (Norrkoping, SE); Spampinato, Giacomo (Vasteras, SE); Wahrburg, Arne (Weiterstadt, DE), filed on September 27, 2023, was made available online on January 18, 2024. The assignee for this patent application is ABB Schweiz AG (Baden, Switzerland). Reporters obtained the following quote from the background information supplied by the inventors: “Every robot has an inherent coordinate system, in which each coordinate is associated to a specific actuator, and isolated operation of that actuator will modify only the coordinate associated to it. In articulated robots, these inherent coordinates are angular coordinates, and a position in Cartesian space the robot will assume when the actuators are set to the coordinates specified by a given inherent coordinate vector can be calculated quite straightforwardly when dimensions of the robot’s links are known. Finding out an inherent coordinate vector associated to a desired position in Cartesian space is a more complicated problem, which, depending on the design of the robot and the position chosen, may have a single solution, several ones, or none at all. Things get still more complicated if not only the position of a reference point of the robot, e.g., a tool center point, in Cartesian space, is considered, but also the spatial orientation of a tool or other object attached to said reference point. In general, it is therefore impractical for a human user to control displacement of a robot by specifying a target pose directly in the robot’s inherent coordinate system. Instead, the user will specify a target pose in some more convenient coordinate system, and the task of finding an inherent coordinate vector which will yield this pose, and of setting the actuators of the robot to their respective coordinate values specified by the inherent coordinate vector is left to a dedicated controller.