Method and apparatus for controlling a machine based on a detection of an abnormality

An apparatus, comprising:

• means of acquiring time series monitored data from a monitored object;
• means of calculating a wavelet transformed image from the monitored data;
• and
• means of calculating a feature value of the wavelet transformed image and determining a presence or an absence of an abnormality of the monitored object based on the feature value.

A method comprising:

• acquiring time series monitored data from an operating machine tool mounted to a robot;
• calculating a wavelet transformed image from the monitored data;
• calculating a feature value of the wavelet transformed image;
• determining a presence or an absence of an abnormality of the machine tool and/or the robot based on the feature value, and
• in response to the determination of the presence of the abnormality, automatically stopping the operation of the robot and/or the machine tool.