发明名称 |
CONDITION MONITORING OF AN INDUSTRIAL ROBOT |
摘要 |
<p>A method for detecting a fault in a robot joint comprises the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.</p> |
申请公布号 |
WO2013050314(A1) |
申请公布日期 |
2013.04.11 |
申请号 |
WO2012EP69318 |
申请日期 |
2012.10.01 |
申请人 |
ABB RESEARCH LTD |
发明人 |
SANDER-TAVALLAEY, SHIVA;SAARINEN, KARI;ANDERSSON, HANS;CARVALHO BITTENCOURT, ANDRE |
分类号 |
B25J9/16 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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