Reducer abnormality determination method, abnormality determination device, and robot system
US9321177B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 15, 2011 |
| Grant date | Apr 26, 2016 |
| Priority date | — |
| Expiry date | Nov 17, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41152
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.