Examination method for examining robot apparatus, control apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorYutaka Tsuchiya
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Abstract
A method for examining a robot apparatus which includes a driving source configured to drive a joint, the position and orientation of which are controlled based on trajectory data determined in advance for a normal motion. The examination method includes generating examination motion data for driving a joint as an examination target under a driving speed that causes the examination target joint to resonate and causing the examination target joint to pass through a path based on the trajectory data. A resonance amplitude of the joint is acquired based on the examination motion data.
Claims28
An information processing method for acquiring information about a robot including joints and a reduction gear, the information processing method comprising:
- displaying the joints on a display unit such that a predetermined joint of the joints is selectable, and diagnosing whether an abnormality occurs to a predetermined reduction gear included in the selected predetermined joint;
- and
- displaying history of diagnosis results of the predetermined reduction gear on the display unit.
An information processing apparatus configured to acquire information about a robot including joints and a reduction gear, the information processing apparatus comprising:
- one or more processors;
- and
- at least one memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to perform operations comprising:
- displaying the joints on a display unit such that a predetermined joint of the joints is selectable, and diagnosing whether an abnormality occurs to a predetermined reduction gear included in the selected predetermined joint;
- and
- displaying history of diagnosis results of the predetermined reduction gear on the display unit.
Dependencies are inferred from the claim text.