| 摘要 |
PCT No. PCT/JP89/00017 Sec. 371 Date Aug. 23, 1989 Sec. 102(e) Date Aug. 23, 1989 PCT Filed Jan. 9, 1989 PCT Pub. No. WO89/06182 PCT Pub. Date Jul. 13, 1989.In an industrial robot employing electric motors (Mz, M theta , Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, theta , U, W), electric drive currents supplied to the electric motors (Mz, M theta , Mu, Mw) associated with the articulatory axes (Z, theta , U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M theta , Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, theta , U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, theta , W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M theta , Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.
|
