Title:
ENCODER ABNORMALITY DETECTING METHOD, OPERATION CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/220719
Kind Code:
A1
Abstract:
The abnormality detecting method for detecting an abnormality in an encoder 5 provided in a robot A includes: an information acquiring step of acquiring corrected position information based on command position information output from a controller 7 indicating the rotational position of a motor 4, and of acquiring an output signal output from the encoder 5; and an abnormality determining step of comparing the corrected position information with detected position information based on the output signal from the encoder 5, and determining that the encoder 5 has an abnormality if there is a difference equal to or greater than a prescribed value between the corrected position information and the detected position information. The controller 7 obtains the corrected position information by removing a vibration component of the robot A corresponding to the weight of an attached load 13 from the command position information, and compensating for a time lag.
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Inventors:
KINUGASA YASUHIRO
HASHIMOTO ATSUMI
HASHIMOTO ATSUMI
Application Number:
PCT/JP2019/005304
Publication Date:
November 21, 2019
Filing Date:
February 14, 2019
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
B25J19/06; G05B9/02
Domestic Patent References:
| WO2018079075A1 | 2018-05-03 | |||
| WO2019031218A1 | 2019-02-14 | |||
| WO2019031219A1 | 2019-02-14 |
Foreign References:
| JP2013000833A | 2013-01-07 | |||
| JP5675761B2 | 2015-02-25 | |||
| JP5367623B2 | 2013-12-11 |
Other References:
See also references of EP 3795309A4
Attorney, Agent or Firm:
MAEDA & PARTNERS (JP)
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