A METHOD FOR SUPERVISION OF THE MOVEMENT CONTROL OF A MANIPULATOR

摘要

A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration ( PHI ref, PHI ref, PHI ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal ( tau mr) is generated by the servo in dependence on the control error torque ( tau err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ( PHI m), at least any of the dynamic parameters and one or more of the following signals: the control error torque ( tau err) of the servo, the reference value for the acceleration ( PHI ref) and the torque signal from the servo ( tau mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position ( PHI m), the current speed ( PHI m), the current acceleration ( PHI m), any of the dynamic parameters, the control error torque ( tau err), of the servo, the reference value for the acceleration ( PHI ref) and the torque signal from the servo ( tau mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.