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AssigneeCanon Kabushiki Kaisha
InventorsAkira Yajima, Takayuki Ogawara, Hidetada Asano
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A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.
A diagnosis apparatus for diagnosing a failure of an articulated robot, the articulated robot including a plurality of links connected by joints, a plurality of motors each configured to drive a corresponding one of the joints, and a plurality of encoders each configured to output a value based on a rotational angle of a corresponding one of the motors, the diagnosis apparatus comprising:
A non transitory recording medium storing instructions that, when executed by one or more processors of a diagnosis apparatus for diagnosing a failure of an articulated robot that includes a plurality of links connected by joints, a plurality of motors each configured to drive a corresponding one of the joints, and a plurality of encoders each configured to output a value based on a rotational angle of a corresponding one of the motors, cause the diagnosis apparatus to:
A display apparatus comprising:
Dependencies are inferred from the claim text.