Title:
ROBOT DIAGNOSIS METHOD
Document Type and Number:
WIPO Patent Application WO/2019/049489
Kind Code:
A1
Abstract:
This robot diagnosis method is characterized by the inclusion of: a first step of preparing a robot comprising a robot arm having at least one joint part, and a detection target part moving as one body with a wrist part from the robot arm, and preparing a line sensor containing a light projector for projecting a light beam, a light receiver for receiving the light beam projected from the light projector, and a detection unit for detecting, based on the light reception state at the light receiver, the position of the detection target part inserted between the light projector and the light receiver; a second step of operating, based on the command values from a robot control unit, the wrist part to travel rectilinearly in such a manner as to intersect with the light beam, while detecting the position of the detection target part with the line sensor; and a third step of diagnosing, based on the position of the detection target part detected in the second step, the rectilinear travelling ability of the wrist part.
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Inventors:
YOSHIDA TETSUYA
BHARWANI AVISH ASHOK
NAKAHARA HAJIME
ARITA TOMOKAZU
BHARWANI AVISH ASHOK
NAKAHARA HAJIME
ARITA TOMOKAZU
Application Number:
PCT/JP2018/025041
Publication Date:
March 14, 2019
Filing Date:
July 02, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
KAWASAKI ROBOTICS USA INC (US)
KAWASAKI ROBOTICS USA INC (US)
International Classes:
H01L21/677; B25J9/10; B25J9/22; H01L21/68
Foreign References:
| JP2003303754A | 2003-10-24 | |||
| JP2007281249A | 2007-10-25 | |||
| JP2008053552A | 2008-03-06 | |||
| JP2003110004A | 2003-04-11 | |||
| JP2010201556A | 2010-09-16 | |||
| JP2010162611A | 2010-07-29 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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