ROBOT AND METHOD FOR CONTROLLING THE SAME

摘要

PROBLEM TO BE SOLVED: To detect an abnormal state of a robot before occurrence of trouble requiring robot disassembly and inspection operations. SOLUTION: In the robot, a robot control means 40 moves an end effector 25 to a predetermined actual position by driving an arm driving means and a wrist shaft driving means; detects the attitude of a robot arm 28 and the angle position of the wrist shaft at the time the end effector 25 reaches the predetermined actual position; calculates and stores a measuring position corresponding to the predetermined actual position based on a detection result thereof; and determines the robot state based on time series data of a plurality of measuring positions obtained at different times. COPYRIGHT: (C)2010,JPO&INPIT