| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot monitoring system, along with a method of determining fault of the robot monitoring system, capable of monitoring a foreign object or the like in real time at a moving destination of a robot. <P>SOLUTION: A robot controller 30 stores a picked up image obtained by a camera unit 40 and a calculated posture of an arm 21 upon the image pickup in association with each other in a data storage part 31 when the arm 21 is operated in a normal state in advance. A simulator 50 calculates an operation range where the arm 21 operates from the posture until a predetermined period passes, for each posture when the arm 21 operates. The robot controller 30 reads the picked up image in the normal state corresponding to the calculated posture of the arm 21 from the data storage part 31 when controlling the operation of the arm 21. Parts corresponding to the operation range are compared in the picked up image obtained by the camera unit 40 and the picked up image in the normal state, and the presence of fault is determined. <P>COPYRIGHT: (C)2013,JPO&INPIT |
