Force sensor diagnostic device and robot control device
AssigneeFanuc Corporation
InventorTakatoshi Iwayama
Life of this patent
Estimating the term…
Abstract
A force sensor diagnostic device that diagnoses a force sensor provided in a robot, the force sensor disposed near an installation surface on which the robot is installed and detecting a force and a moment applied to the robot from an outside. The device includes a calculation unit that calculates a theoretical value of the force and a theoretical value of the moment detected by the force sensor, a determination unit that determines whether the force sensor is distorted by comparing an actually measured value of the force and an actually measured value of the moment detected by the force sensor with the theoretical values of the force and the moment, and a notification unit that notifies a determination result from the determination unit.
Claims14
A force sensor diagnostic device that diagnoses a force sensor provided in a robot, the force sensor disposed in a proximal end side of the robot and detecting a force and a moment applied to the robot from an outside, the force sensor diagnostic device comprising:
- a robot-motion controller configured to cause, based on a motion program, the robot to perform a sensor-diagnosis motion for diagnosing the force sensor;
- and
- one or more processors, wherein the one or more processors are configured to conduct:
- a calculation process that calculates a theoretical detection value of the force and a theoretical detection value of the moment of the force sensor;
- a determination process that determines whether a distortion due to anchor bolts, which fix the proximal end side of the robot to an installation surface, is caused in the force sensor or not by comparing an actually measured value of the force and an actually measured value of the moment detected by the force sensor with the theoretical detection value of the force and the theoretical detection value of the moment;
- and
- a notification process that notifies a determination result determined by the determination process.
A robot control device for diagnosing a force sensor provided in a robot, the force sensor disposed in a proximal end side of the robot and detecting a force and a moment applied to the robot from an outside, the robot control device comprising:
- a robot-motion controller configured to cause, based on a motion program, the robot to perform a sensor-diagnosis motion for diagnosing the force sensor;
- and
- one or more processors, wherein the one or more processors are configured to conduct:
- a calculation process that calculates a theoretical detection value of the force and a theoretical detection value of the moment of the force sensor;
- a determination process that determines whether a distortion due to anchor bolts, which fix the proximal end side of the robot to an installation surface, is caused in the force sensor by comparing an actually measured values of the force and an actually measured value of the moment detected by the force sensor with the theoretical detection value of the force and the theoretical detection value of the moment;
- and
- a notification process that notifies a determination result from the determination process.
Dependencies are inferred from the claim text.