Motor safety control method and robot for implementing the same

A robot comprising:

• a motor;
• a first sensor configured to sense a first motor value for the motor;
• a second sensor configured to sense a second motor value for the motor, wherein a resolution of the first sensor is higher than a resolution of the second sensor;
• a motor driver configured to provide a drive signal to the motor;
• a safety controller comprising a first speed sub-monitor and a second speed sub-monitor and configured to:
• receive the first motor value and the second motor value respectively at the first speed sub-monitor configured to compute a first rotational speed of the motor based on the first motor value and the second speed sub-monitor configured to compute a second rotational speed of the motor based on the second motor value;
• compare a threshold with a first difference between the first rotational speed and the second rotational speed at the first speed sub-monitor and comparing the threshold with a second difference between the first rotational speed and the second rotational speed at the second speed sub-monitor;
• and
• provide an operation signal to the motor driver to continue or stop operation of the motor based on the comparisons at the first speed sub-monitor and the second speed sub-monitor.