Examination method for examining robot apparatus, control apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorYutaka Tsuchiya
Life of this patent
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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.
Claims13
An examination method for examining a robot apparatus which includes a driving source configured to drive a joint, a position and orientation of which are controlled based on trajectory data determined in advance for a normal motion, the examination method comprising:
- generating examination motion data for driving a joint as an examination target joint under a driving condition that causes the examination target joint to resonate, and causing the examination target joint to pass through a path based on the trajectory data;
- and
- acquiring a resonance amplitude of the joint based on the examination motion data.
An examination method for examining a robot apparatus which includes a joint portion that has a motor and a reduction gear, the examination method comprising:
- driving, during a time when the robot apparatus is caused to move, a joint portion based on a parameter having a variable range and which includes a condition that causes the joint portion to resonate;
- changing the parameter over time;
- and
- acquiring a resonance amplitude of the joint portion during the time that the joint portion is being driven.
A control apparatus for controlling a robot which includes a driving source configured to drive a joint, and position and orientation of which are controlled based on trajectory data determined in advance for a normal motion, the control apparatus comprising:
- a generation unit configured to generate examination motion data for driving a joint as an examination target under a driving condition that causes the examination target joint to resonate, and causing the examination target joint to pass through a path based on the trajectory data;
- and
- a resonance amplitude acquisition unit configured to acquire a resonance amplitude of the joint based on the examination motion data.
A control apparatus for controlling a robot which includes a joint portion that has a motor and a reduction gear, the control apparatus comprising:
- a driving control unit configured to, during a time when the robot is caused to move, drive a joint portion based on a parameter having a variable range and which includes a condition that causes the joint portion to resonate, changing the parameter over time;
- and
- an acquisition unit configured to acquire a resonance amplitude of the joint portion during the time that the joint portion is being driven.
Dependencies are inferred from the claim text.