Method of and apparatus for ascertaining motion abilities of industrial robot
US4970448A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 23, 1989 |
| Grant date | Nov 13, 1990 |
| Priority date | — |
| Expiry date | Aug 23, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta., Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.