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EP 1 824 647 A1

(12)

(43) Date of publication: 29.08.2007 Bulletin 2007/35 (21) Application number: 05792457.3 (22) Date of filing: 11.10.2005

(51) International Patent Classification (IPC):  B25J 9/18(2006.01) B25J 9/16(2006.01) G05B 19/19(2006.01) G05B 19/4068(2006.01) G05B 19/18(2006.01) (86) International application number: PCT/SE2005/001512 (87) International publication number: WO 2006/043873 (27.04.2006 Gazette 2006/17)

(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 LV MC NL PL PT RO SE SI SK TR (30) Priority: 20.10.2004 SE 0402533 20.10.2004 US 619923 P (71) Applicant: ABB RESEARCH LTD. 8050 Zürich (CH)	(72) Inventors: LIBERG, Anna S-722 19 Västerås (SE) RENBACK, Johan S-722 25 Västerås (SE) FALK, Mattias S-211 29 Malmö (SE) JOHANSSON, Görgen S-722 46 Västeras (SE) (74) Representative: Reyier, Ann-Mari  Bjerkéns Patentbyra KB, Box 128 721 05 Västeras 721 05 Västeras (SE)