| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that it is difficult to improve the accuracy of failure detection in a conventional robot apparatus.SOLUTION: A robot apparatus includes a motor 17 for generating rotational power for turning an arm 13, an angle sensor 19 for sensing the rotational amount of an output shaft of the motor 17, an angular velocity sensor 15 for sensing the action of the arm 13, a frequency analysis unit 105 for calculating a frequency spectrum SP1a by performing the spectrum analysis of the transition of the action of the arm 13 to be obtained based on the output result OP1 from the angle sensor 19 when turning the arm 13, a frequency analysis unit 107 for calculating a frequency spectrum SP2a by performing the spectrum analysis of the transition of the action of the arm 13 to be obtained based on the output result OP2 from the angular velocity sensor 15, and a comparison and determination unit 111 for determining the occurrence of any failure when a difference between the frequency spectrum SP1b and the frequency spectrum SP2b except the natural vibration frequency of the arm 13 exceeds a permissible value. |
