Method for monitoring a robot and robot with monitoring means

摘要

Method for monitoring the moving parts of a machine, e.g. an industrial robot, whereby measurement values for at least two different measurement variables are obtained and at least one value processed to yield a measurement result that can be compared with a measurement value of another measurement variable or the measurement result obtained from the second measured value. As a result of the comparison a comparison event characterizing signal is generated. An independent claim is made for a machine with moving parts, e.g. an industrial robot, that has a comparison unit for comparison of measurement values.