| 摘要 |
The invention relates to a method and a device for the open-loop/closed-loop control of a robot joint driven by an electric motor, the robot joint having: a current sensor with a first sensor electronics system for detecting a first operating current i<sb /> k,1 (t)of the electric motor, where k = 1, 2,...; a first position sensor for detecting an input positionθ m (t) of a power train of the robot joint; a second position sensor for detecting a power take-off position q(t) of a power take-off train of the robot joint and a first torque sensor for detecting a torqueτ J ,l(t) in the power take-off train, the electric motor being open-loop/closed-loop controlled on the basis of a predefined target manipulated variable zm(t). The method disclosed comprises the following steps: provision*(101) of the measured values θ <sb /> m <sb /> (t),i <sb /> k, l(t),τ J (t),q(t), checking (102) for the presence of a fault by the first fault detector, which detects the presence of a fault if the measured valuesθ m (t),i k, l(t),τ J (t),q(t) and/or their time derivatives do not fulfil predefined first limit value conditions, and checking (103) for the presence of a fault by additional fault detectors. |
