Robot
AssigneeHonda Motor Co., Ltd.
InventorsRyusuke Ishizaki, Tetsuro Tanazawa
Life of this patent
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Abstract
A robot includes: links, connected in series to a base via joints; actuators, driving the joints to relatively displace a corresponding pair of links connected to each other; control devices, distributedly arranged in the base and the links and controlling the actuators; a communication cable, comprising an optical fiber connecting the control devices to each other and transmitting information; and light amount measurement devices, measuring the amount of light of an optical signal transmitted to the control devices via the communication cable. Each control device monitors the amount of light measured by the light amount measurement device corresponding thereto, and determines a state of the communication cable corresponding thereto based on the amount of light.
Claims10
A robot, comprising:
- a plurality of links, connected in series to a base via a plurality of joints;
- a plurality of actuators, driving the joints to relatively displace a corresponding pair of the links connected to each other;
- a plurality of control devices, distributedly arranged in the base and the links and controlling the actuators;
- a communication cable, comprising an optical fiber connecting the control devices to each other and transmitting information;
- and
- a plurality of light amount measurement devices, measuring amount of light of an optical signal transmitted to the control devices via the communication cable, wherein
- each of the control devices monitors the amount of light measured by the light amount measurement device corresponding thereto, and determines whether a state of the communication cable corresponding thereto is abnormal based on the amount of light,
- when the state of the communication cable is abnormal, only the joints other than the joint through which the communication cable where an abnormality has occurred passes are driven.
Dependencies are inferred from the claim text.