SIMULATION METHOD OF NON-RIGID OBJECT ADDED TO ROBOT AND STATE DIAGNOSING METHOD OF NON-RIGID OBJECT ADDED TO ROBOT

Title:

SIMULATION METHOD OF NON-RIGID OBJECT ADDED TO ROBOT AND STATE DIAGNOSING METHOD OF NON-RIGID OBJECT ADDED TO ROBOT

Document Type and Number:

Japanese Patent JP2005293331

Kind Code:

A

Abstract:

To provide the state diagnosing method of non-rigid object added to a robot, by which the state of a non-rigid object added to the robot is exactly diagnosed.

In the state diagnosing method, an operation program of the robot is acquired (S1), simulation is executed, entire torsion ω obtained by acquiring and adding rotation torsion and revolution torsion of each of cable fixed points A, B, distance L1 between the fixed points A and B, an angle ψAB formed on an X-Y plane of vectors AB, and an angle θAB formed by a Z axis and the vectors AB are calculated (S2), Mahalanobis distance of a Mahalanobis and Taguchi method is calculated using each value as featured values (S3), and when each value is equal to or less than a reference value, it is decided that there is no defect (S4, S5).

Inventors:

IKUTA KUNIO
KUBO HIDEYUKI
OTAKA YUKIMASA

Application Number:

JP2004108696A

Publication Date:

October 20, 2005

Filing Date:

April 01, 2004

Export Citation:

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Assignee:

NISSAN MOTOR

International Classes:

B25J13/00; B25J19/00; G05B19/4068; G06F17/50; (IPC1-7): G05B19/4068; B25J13/00; B25J19/00; G06F17/50

Domestic Patent References:

JPH05216920A	1993-08-27
JPH10275007A	1998-10-13
JP2003141306A	2003-05-16

Attorney, Agent or Firm:

Mikio Hatta
Yasuo Nara
Etsuko Saito
Katsuyuki Utani
Toshifumi Fujii

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