| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect abnormality of a robot arm. SOLUTION: A robot arm diagnosis device is provided with torque calculation means 10, 11 for calculating an actual drive torque from a drive current, torque estimation means 10, 11 for calculating the drive torque from command position information and estimating the drive torque by correcting the drive torque by a torque variation parameter, estimated torque acquisition means 10, 11 for acquiring the estimated torque estimated in other operation processing parts 10, 11, estimated torque matching determination means 10, 11 for performing the matching of the estimated torque with the acquired estimated torque, torque difference calculation means 10, 11 for calculating the difference between the estimated toque and the calculated actual drive torque when it is determined that the estimated torques are matched, and power shut off means 10, 11 which shut off power supply to a servo motor 24 by switching parts 18, 19 when the difference of the calculated torque is not less than a predetermined value or it is determined that the estimated torques are not matched. COPYRIGHT: (C)2008,JPO&INPIT
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