Title:
METHOD FOR DIAGNOSING ROBOT
Document Type and Number:
WIPO Patent Application WO/2019/026508
Kind Code:
A1
Abstract:
A method for diagnosing a robot in order to detect the amount of displacement due to lost motion, wherein the method for diagnosing a robot is characterized by comprising: a first step for preparing a robot comprising a robot arm having at least one joint part, a workpiece conveyed by the robot, and a prealigner comprising a processing unit for detecting the center position of the workpiece; and, after the first to fifth steps have been performed, a sixth step for detecting the amount of displacement due to lost motion in the one joint part on the basis of the center position of the workpiece detected in the second step, the center position of the workpiece based on a command value from the robot control unit in the fourth step, and the center position of the workpiece detected in the fifth step.
Inventors:
YOSHIDA TETSUYA
ZENG MING
NAKAHARA HAJIME
LOZANO ANTONIO JOHN
ARITA TOMOKAZU
ZENG MING
NAKAHARA HAJIME
LOZANO ANTONIO JOHN
ARITA TOMOKAZU
Application Number:
PCT/JP2018/025039
Publication Date:
February 07, 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:
| JP2003110004A | 2003-04-11 | |||
| JP2013162029A | 2013-08-19 | |||
| JP2007281249A | 2007-10-25 | |||
| JP2017092246A | 2017-05-25 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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