Title:
ROBOT CONTROL DEVICE, ABNORMALITY DIAGNOSING METHOD, AND ABNORMALITY DIAGNOSING PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/171939
Kind Code:
A1
Abstract:
Provided is technology to improve precision in diagnosing an abnormality of a robot body. A robot control device (300) diagnoses an abnormality of a robot body (200) comprising a motor (201) that rotates, from a starting angle position to a target angle position, a rotational shaft (204) for transmitting power to an arm (203) so that the arm (203) performs a predetermined movement. The robot control device (300) comprises: a drive control unit (304) that drives the motor (201) so that the rotational shaft (204) rotates from a starting angle position to a target angle position within a rotational speed range for the rotational shaft (204) in which it is possible to detect a vibration component, from among the vibration components due to rotation of the rotational shaft (204), that is caused by the abnormality; a vibration detection unit (305) that detects the vibration component; and a diagnosis unit (303) that diagnoses the abnormality on the basis of the detected vibration component.
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Inventors:
MORI YASUMOTO (JP)
ENDO MAKI (JP)
SHIRAKI TERUYUKI (JP)
ENDO MAKI (JP)
SHIRAKI TERUYUKI (JP)
Application Number:
PCT/JP2019/006108
Publication Date:
September 12, 2019
Filing Date:
February 19, 2019
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J19/06
Foreign References:
| JP2017061001A | 2017-03-30 | |||
| JPS61136792A | 1986-06-24 | |||
| JP2012139770A | 2012-07-26 | |||
| JP2009109350A | 2009-05-21 | |||
| JP2006281421A | 2006-10-19 |
Other References:
See also references of EP 3763493A4
Attorney, Agent or Firm:
INABA, Yoshiyuki et al. (JP)
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