发明名称 |
Method and device for monitoring the condition of an industrial robot |
摘要 |
A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot. |
申请公布号 |
US8090475(B2) |
申请公布日期 |
2012.01.03 |
申请号 |
US20070987522 |
申请日期 |
2007.11.30 |
申请人 |
BLANC DOMINIQUE;SJOESTRAND NICLAS;ABB RESEARCH LTD. |
发明人 |
BLANC DOMINIQUE;SJOESTRAND NICLAS |
分类号 |
G05B15/00 |
主分类号 |
G05B15/00 |
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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