Robot failure symptom detection apparatus and robot failure symptom detection method

A robot failure symptom detection apparatus for detecting a symptom of failure of a robot, the robot failure symptom detection apparatus comprising a processor or circuitry configured to perform operations comprising:

• operation as a behavior time-sequence data acquisition unit configured to perform processing of acquiring behavior time-sequence data relating to a motor of a joint of the robot from a robot operation, for each data collection unit period;
• operation as an evaluation value calculation unit configured to calculate an evaluation value for the behavior time-sequence data acquired by operation as the behavior time-sequence data acquisition unit;
• operation as a representative evaluation value generation unit configured to generate a representative evaluation value representing the evaluation values, from the evaluation values obtained by operation as the evaluation value calculation unit, for each data collection unit period;
• operation as a sequence processing unit configured to generate a sequence of the representative evaluation values;
• and
• operation as a determination unit configured to create a determination model, based on an initial sequence generated by operation as the sequence processing unit, during an initial operation of the robot, and after the initial operation, to input determination data including data based on a robot operation after the initial operation into the created determination model to acquire atypicality of the determination data.