Method for estimating position where abnormality has occurred, and program for estimating position where abnormality has occurred
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsRyo Yamashita, Toshikazu Sugimoto
Life of this patent
Estimating the term…
Abstract
A method estimates a position where an abnormality has occurred. The method for estimating a position where an abnormality has occurred in a robot includes an abnormality detection step of detecting occurrence of an abnormality, and a position detection step of detecting a position where the abnormality has occurred when the occurrence of the abnormality is detected in the abnormality detection step.
Claims9
A method for estimating a position where an abnormality has occurred in a robot that drives an arm using a servo motor, the method comprising:
- an abnormality detection step of detecting that an abnormality has occurred;
- a position detection step of detecting, when occurrence of the abnormality is detected in the abnormality detection step, a position where the abnormality has occurred;
- a cycle observed value detection step of observing a transition of a value of a current flowing through the servo motor or a position deviation of the servo motor as an observed value, and detecting a representative value of the observed value for each cycle in a prescribed operation of an operation for each cycle in an operation repeatedly performed by the robot;
- and
- a daily observed value detection step of detecting a representative value of the observed value for each day from the representative value of the observed value detected for each cycle, wherein
- when the representative value of the observed value for each day deviates from a prescribed range, the occurrence of the abnormality is detected in the abnormality detection step.
A non-transitory computer readable medium storing thereon a program for estimating a position where an abnormality has occurred in a robot that drives an arm using a servo motor, the program causing a computer to execute:
- an abnormality detection step of detecting that an abnormality has occurred;
- a position detection step of detecting, when occurrence of the abnormality is detected in the abnormality detection step, a position where the abnormality has occurred;
- a cycle observed value detection step of observing a transition of a value of a current flowing through the servo motor or a position deviation of the servo motor as an observed value, and detecting a representative value of the observed value for each cycle in a prescribed operation of an operation for each cycle in an operation repeatedly performed by the robot;
- and
- a daily observed value detection step of detecting a representative value of the observed value for each day from the representative value of the observed value detected for each cycle, wherein
- when the representative value of the observed value for each day deviates from a prescribed range, the occurrence of the abnormality is detected in the abnormality detection step.
Dependencies are inferred from the claim text.