| 摘要 |
This failure diagnostic device detects a disturbance torque (Tq) acting on a joint axis of a multi-axis robot (1), and classifies the disturbance torque (Tq) on the basis of the content of the operation performed by the multi-axis robot (1) at the time of detection of the disturbance torque (Tq). Further, a failure diagnostic of the multi-axis robot (1) is performed by comparing the classified disturbance torque (Tq) and a threshold value (α). |
