Granted Patent B2

US 12,638,823 · App. 18/030,671 · Granted May 26, 2026

Inventor: Jos Mirth (Odense S, DK)

Assignee: Universal Robots A/S

G05B19/409B25J9/1674B25J13/06G05B2219/39001

Abstract

Claims (110)

1 . A system comprising:

a robotic arm comprising:

joints;

a base; and

a tool flange, the joints mechanically connecting the base and the tool flange;

a controller configured to control movement of the joints to control movement of the tool flange; and

an input device, the input device being configured to receive activation sequences to enable the controller to change a mode of operation of the robotic arm, the controller being configured to perform operations comprising:

changing a mode of operation of the robotic arm to a stop mode in response to a first activation sequence received on the input device, the stop mode comprising a first mode, the first activation sequence comprising first operations, at least one of the first operations being performed for a first predetermined time; and

changing the mode of operation of the robotic arm to a second mode in response to a second activation sequence received on the input device, the second activation sequence comprising second operations, at least one of the second operations being performed for a second predetermined time;

wherein the mode of operation of the robotic arm is changed in response to the first activation sequence or the second activation sequence when the robotic arm is in a third mode of operation.

2 . The system of claim 1 , wherein the controller is configured to cause the robotic arm to enter the stop mode, thereby causing the robotic arm to stop, in response to the first activation sequence when the robotic arm is in a teach mode or a test mode.

3 . The system of claim 2 , wherein causing operation of the robotic arm to stop comprises terminating operation of the robotic arm and thereby bringing the robotic arm to a standstill.

4 . The system of claim 1 , wherein the second mode comprises a free-drive mode configured to:

maintain the robotic arm in a static posture when only gravity is acting on the robotic arm; and

allow a change in posture of the robotic arm when an external force different from gravity is applied to the robotic arm.

5 . The system of claim 1 , wherein the input device comprises a physical button having at least a release position, a middle position, and a fully activated position.

6 . A system comprising:

a robotic arm comprising:

joints;

a base; and

a tool flange, the joints mechanically connecting the base and the tool flange;

a controller configured to control movement of the joints to control movement of the tool flange;

an interface device communicatively connected to the controller; and

an input device associated with the interface device, the input device being configured to receive activation sequences to enable the controller to change a mode of operation of the robotic arm, the controller being configured to perform operations comprising:

changing a mode of operation of the robotic arm to a stop mode in response to a first activation sequence received on the input device, the stop mode comprising a first mode; and

changing the mode of operation of the robotic arm to a second mode in response to a second activation sequence received on the input device;

wherein the mode of operation of the robotic arm is changed in response to the first activation sequence or the second activation sequence when the robotic arm is in a third mode of operation;

wherein the input device comprises a physical button having at least a release position, a middle position, and a fully activated position; and

wherein first activation sequence comprises:

in response to the input device being in the middle position, the controller receiving a first electric signal and starting a timer;

in response to the input device being in the middle position for at least a first period of time, the controller allowing operation of the robotic arm after the first period of time; and

either one of the following operations:

in response to moving the input device to the release position, the first electric signal changing and, in response, the robot controller causing the robotic arm to stop operation; or

in response to the input device moving to the fully activated position, the first electric signal changing and, in response, the robot controller causing the robotic arm to stop operation.

7 . The system of claim 6 , wherein the controller is configured to reset the timer in response to the input device not being in the middle position for an initial first period of time, the initial first period of time being more than 0 ms (milliseconds) and less than the first period of time.

8 . The system of claim 7 , wherein changing the first electric signal in response to moving the input device to the release position comprises the first electric signal changing to a second electric signal.

9 . The system of claim 8 , wherein changing the first electric signal in response to the input device moving to the fully activated position comprises the first electric signal to changing to a third electric signal.

10 . The system of claim 6 , wherein the first period of time is between 10 ms (milliseconds) and 2000 ms, is between 40 ms and 1000 ms, is between 45 ms and 550 ms, or is 200 ms.

11 . The system of claim 6 , wherein the second activation sequence comprises:

forcing the input device to the middle position and then, within a time period that is less than a second period of time, releasing the input device to the release position;

forcing the input device to the middle position and then, within the time period that is less than the second period of time, forcing the input device to the fully activated position;

forcing the input device to the fully activated position and then, within the time period that is less than the second period of time, releasing the input device to the release position; or

forcing input device to the fully activated position and then, within the time period that is less than the second period of time, releasing the input device to the middle position.

12 . The system of claim 11 , wherein the second period of time is between 10 ms (milliseconds) and 2000 ms, is between 40 ms and 1000 ms, is between 45 ms and 550 ms, or is 200 ms.

13 . The system of claim 11 , wherein at least one of:

a time period of forcing the input device to the middle position is longer than an initial second period of time; or

a time period of forcing the input device to fully activated position is longer than the initial second period of time;

wherein the initial second period of time is more than Oms (milliseconds) and less than the second period of time.

14 . The system of claim 11 , wherein the second activation sequence comprises at least one of:

moving the input device to the release position and then, within a third period of time, forcing the input device to the fully activated position or to the middle position;

forcing the input device to the fully activated position and then, within the third period of time, releasing the input device to the release position or to the middle position; or

forcing the input device to the middle position and then, within the third period of time, releasing the input device to the release position or forcing the device to the fully activated position.

15 . The system of claim 14 , wherein the third period of time is between 200 ms (milliseconds) and 2000 ms, is between 300 ms and 1000 ms, or is between 400 ms and 550 ms.

16 . The system of claim 1 , wherein the controller is configured to change the mode of operation of the robotic arm in response to the second activation sequence and a present mode of operation of the robotic arm.

17 . The system of claim 16 , wherein the controller is configured to change the mode of operation of the robotic arm from a teach mode of operation to a free-drive mode of operation in response to the second activation sequence;

wherein the controllers configured to change the mode of operation of the robotic arm from a test mode of operation to a move mode of operation in response to the second activation sequence; and

wherein, in the move mode, the controller is configured to cause the robotic arm to move to a start position.

18 . The system of claim 1 , further comprising:

an interface device communicatively connected to the controller; and

an auxiliary interface that is communicatively connected to the controller and that is physically separate from the interface device, the auxiliary interface device being associated with the auxiliary input device.

19 . The system of claim 18 , wherein a first part of the first activation sequence is receivable on the input device or the auxiliary input device; and

wherein a second part of the first activation sequence is receivable on the input device or the auxiliary input device.

20 . The system of claim 18 , wherein the controller is configured to the cause the robotic arm to move to a start position in response to a third activation sequence received on the input device from a user.

21 . The system of claim 20 , wherein the second activation sequence or the third activation sequence comprises operation of the input device or operation of the auxiliary input device.

22 . The system of claim 1 , wherein the third mode of operation comprises: run mode, test mode, or teach mode.

23 . The system of claim 18 , wherein the interface device is connected to the controller by wire.

24 . The system of claim 18 , wherein the interface device comprises a teach pendent, the teach pendant comprising the input device and a display.

25 . The system of claim 1 , wherein the third mode of operation comprises a present mode.

26 . The system of claim 1 , wherein the robotic arm is in the third mode of operation prior to the controller changing the mode of operation of the robotic arm.

27 . The system of claim 1 , wherein the third mode of operation comprises teach mode or test mode.

28 . The system of claim 1 , wherein the controller is configured to change the mode of operation of the robotic arm to an operation mode in response to a first subset of first operations in the first activation sequence.

29 . The system of claim 28 , wherein the controller is configured to change the mode of operation of the robotic arm to an operation mode in response to applying a first subset of second operations in the second activation sequence.

30 . The system of claim 29 , wherein the first subset of first operations in the first activation sequence and the first subset of second operations in the second activation sequence are identical.

31 . The system of claim 1 , wherein the second mode comprises a move mode.

32 . The system of claim 1 , wherein the second mode comprises a free-drive mode when the third mode is a teach mode.

33 . The system of claim 1 , wherein the second mode comprises a move mode when the third mode is a test mode.

34 . The system of claim 1 wherein the controller is configured to change, in response to the first activation sequence, the mode of operation of the robotic arm to the stop mode when the third mode of operation is at least one of a run mode or a test mode.

35 . A method of controlling a robotic arm using an interface device, the interface device being associated with an input device, the interface device being in communication with a controller for the robotic arm, the method comprising:

the controller receiving a first set of electric signals at a first time in response to a first activation sequence received at the input device, the first activation sequence comprising first operations, at least one of the first operations being performed for a first predetermined time;

the controller causing the robotic arm to operate in a stop mode based on the first set of electric signals, the stop mode comprising a first mode of operation;

the controller receiving a second set of electric signals at a second time in response to a second activation sequence received at the input device, the second activation sequence comprising second operations, at least one of the second operations being performed for a second predetermined time; and

the controller causing the robotic arm to operate in a second mode of operation based on the second set of electric signals;

wherein the controller causes the robotic arm to change a mode of operation in response to the first activation sequence or the second activation sequence when the robotic arm is in a third mode of operation.

36 . The method of claim 35 , wherein the robotic arm comprises:

joints;

a base; and

a tool flange, the joints mechanically connecting the base and the tool flange; and

wherein the controller controls movement of the joints.

37 . The method of claim 35 , wherein the first mode of operation or the second mode of operation comprises a free-drive mode of operation, the free-drive mode of operation comprising:

maintaining the robotic arm in a static posture when only gravity is acting on the robot arm; and

allowing a change in posture of the robotic arm when an external force different from gravity is applied to the robotic arm.

38 . A controller for a robotic arm, the controller being responsive to an input device, the input device for receiving activation sequences for changing a mode of operation of the robotic arm, wherein the controller is configured to perform operations comprising:

changing a mode of operation of the robotic arm to a stop mode in response to a first activation sequence received on the input device, the stop mode comprising a first mode, the first activation sequence comprising first operations, at least one of the first operations being performed for a first predetermined time; and

changing the mode of operation of the robotic arm to a second mode in response to a second activation sequence received on the input device, the second activation sequence comprising second operations, at least one of the second operations being performed for a second predetermined time;

wherein the controller is configured to change the mode of operation of the robotic arm in response to the first activation sequence or the second activation sequence of activation when the robotic arm is in a third mode of operation.

39 . The controller of claim 38 , wherein the robotic arm comprises:

joints;

a base; and

a tool flange, the joints mechanically connecting the base and the tool flange; and

wherein the controller is configured to control movement of the joints.

40 . A system comprising:

a robotic arm comprising joints mechanically connecting a base and a tool flange; and

a controller configured to control movement of the joints to control movement of the tool flange, the controller being responsive to an input device configured to receive activation sequences to enable changing a mode of operation of the robotic arm;

wherein the controller is configured to perform operations comprising:

changing a mode of operation of the robotic arm to a stop mode in response to a first activation sequence received on the input device, the stop mode comprising a first mode, the first activation sequence comprising first operations, at least one of the first operations being performed for a first predetermined time; and

changing the mode of operation of the robotic arm to a second mode in response to a second activation sequence received on the input device, the second activation sequence comprising second operations, at least one of the second operations being performed for a second predetermined time;

wherein the controller is configured to change the mode of operation of the robotic arm in response to the first activation sequence or the second activation sequence when the robotic arm is in a third mode of operation.

41 . The system of claim 40 , further comprising:

an interface device; and

an auxiliary interface device that is different from the interface device.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (238)