(19)
(11) EP 1 704 450 A1

(12)

(43) Date of publication:
27.09.2006 Bulletin 2006/39

(21) Application number: 05704716.9

(22) Date of filing: 14.01.2005
(51) International Patent Classification (IPC): 
G05B 19/418(2006.01)
G06F 9/30(2006.01)
 B25J 9/16(2006.01)
(86) International application number:
PCT/SE2005/000042
(87) International publication number:
WO 2005/069092 (28.07.2005 Gazette 2005/30)
(84) Designated Contracting States:
AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

(30) Priority: 16.01.2004 SE 0400091
16.01.2004 SE 0400090

(71) Applicant: ABB AB
721 83 Västeras (SE)

(72) Inventors:
  • DAHLBERG, Annika
    S-724 64 Väster s (SE)
  • POLJEN, Christian
    S-745 93 Enköping (SE)
  • FALK, Mattias
    S-211 29 Malmö (SE)
  • DAHLIN, Johan
    Columbus, IN 47201 (US)

(74) Representative: Reyier, Ann-Mari 
Bjerkéns Patentbyra KB, Box 128
721 05 Västeras
721 05 Västeras (SE)

   


(54) CONTROL SYSTEM, METHOD AND COMPUTER PROGRAM FOR CONTROLLING COORDINATE MOVEMENTS OF SEVERAL MECHANICALS UNITS.