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TPU with Gravity Sensor

IP.com Disclosure Number: IPCOM000237907D
Publication Date: 2014-Jul-21
Document File: 2 page(s) / 127K

Publishing Venue

The IP.com Prior Art Database

Related People

Bojun Ma: AUTHOR [+5]

Abstract

ABB’s TPU is a smart user interface, which targets to supply nice usability and reliable safety for user operation. Especially, ABB’s 3D joystick supplies a relative easy way to control robot in different degrees of freedom. However, it is quite expensive, and user still needs to find the button to switch degrees because there is usually more than 3 degrees of freedom in the joint space or a Cartesian space. This invention introduces a gravity sensor into the TPU. It will bring a visible improvement of the usability and safety, and meanwhile the cost will be reduced much by replacing the 3D joystick.Gravity sensor is not used in the field of TPU.Better usability and safety, Lower cost

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Page 01 of 2

TPU with Gravity Sensor

Summary

     ABB's TPU is a smart user interface, which targets to supply nice usability and reliable safety for user operation. This invention introduces a gravity sensor into the TPU. It will bring a visible improvement of the usability and safety, and meanwhile the cost will be reduced much by replacing the 3D joystick.

Ideas

     ABB's 3D joystick supplies a relative easy way to control robot in different degrees of freedom. However, it is quite expensive, and user still needs to find the button to switch degrees because there is usually more than 3 degrees of freedom in the joint space or a Cartesian space.

     The ideas proposed in this paper is motivated by smart mobile phone, which has a gravity sensor to detect the user's behavior. With the same sensor, the TPU's will have one more way to capture the operator's behavior. As a sequence:

1. The 3D joystick is not necessary any more. The following figure show an example for how to jog robot in world space, it is especially attractive for palletizing robot.

Rotation around axis z

Move along axis y

Move along axis z

Move along axis x

z

y

x



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The 2D joystick could be several buttons or just a touch screen. By using the 2D device together with the gravity sensor, it is possible for user jogging robot in 6 degrees without any "switch button". Four degrees has been shown in the above figure, and two more could be as follows:

2. The safety of TPU is increased because it could deactivate all t...