| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method of detecting a failure of a robot small in error. <P>SOLUTION: The method of detecting the failure of the robot 1 including joints J1-J6, arms 13-18 connected to the joints, an encoder 40 for detecting respective rotation angles of the joints J1-J6, and a gyro-sensor 30 mounted to one of the arms includes processes of: determining a threshold value for determining an abnormality of the encoder 40 or the gyro-sensor 30; acquiring a joint angle by the encoder 40; calculating a joint angular speed by subjecting the joint angle to approximate differentiation; converting the joint angular speed to a coordinate system angular speed at a gyro-sensor position; acquiring an angular speed by the gyro-sensor; calculating an angular speed difference or an angular speed ratio between the angular speed acquired by the gyro-sensor and the coordinate system angular speed; and comparing the angular speed difference or the angular speed ratio with a threshold. <P>COPYRIGHT: (C)2013,JPO&INPIT |
