JPS6426909A - Detecting system for working abnormality of robot - Google Patents

Detecting system for working abnormality of robot

Info

Publication number
JPS6426909A
JPS6426909A JP18236087A JP18236087A JPS6426909A JP S6426909 A JPS6426909 A JP S6426909A JP 18236087 A JP18236087 A JP 18236087A JP 18236087 A JP18236087 A JP 18236087A JP S6426909 A JPS6426909 A JP S6426909A
Authority
JP
Japan
Prior art keywords
robot
working
abnormality
driving power
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP18236087A
Other languages
Japanese (ja)
Inventor
Kichiji Nagasawa
Kazuo Nagai
Toshiyuki Ikeda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oki Electric Industry Co Ltd
Original Assignee
Oki Electric Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oki Electric Industry Co Ltd filed Critical Oki Electric Industry Co Ltd
Priority to JP18236087A priority Critical patent/JPS6426909A/en
Publication of JPS6426909A publication Critical patent/JPS6426909A/en
Pending legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To increase the range of automation of a robot by monitoring the driving power and the working speed of the robot to compare these values with those stored in a normal working state via a device for detection the robot working abnormality and designating the time point of said comparison to said device. CONSTITUTION:Both the position and speed error signals are obtained via differentiators 24 and 25 based on the position signal received from a rotary encoder 21 for measurement of the drive of a power detector. This measurement data is compared with the data on a driving power memory 33 storing the driving power obtained in a normal working state via a driving power comparator 34. At the same time, a speed comparator 32 is used for detection of the working abnormality. Furthermore a teaching device 43 decides whether a comparing should be carried out or not for detection of the abnormality. As a result, a working abnormality detecting signal is sent to the comparator 32 from a higher controller 22 while a robot is performing a certain job. Thus the working abnormality detecting function is stopped.
JP18236087A 1987-07-23 1987-07-23 Detecting system for working abnormality of robot Pending JPS6426909A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18236087A JPS6426909A (en) 1987-07-23 1987-07-23 Detecting system for working abnormality of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18236087A JPS6426909A (en) 1987-07-23 1987-07-23 Detecting system for working abnormality of robot

Publications (1)

Publication Number Publication Date
JPS6426909A true JPS6426909A (en) 1989-01-30

Family

ID=16116953

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18236087A Pending JPS6426909A (en) 1987-07-23 1987-07-23 Detecting system for working abnormality of robot

Country Status (1)

Country Link
JP (1) JPS6426909A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024011A1 (en) * 1996-11-26 1998-06-04 Fanuc Ltd Robot control device having operation route simulation function
JP2007515305A (en) * 2003-12-22 2007-06-14 エービービー・エーエス Control method, device and system for robot equipment

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024011A1 (en) * 1996-11-26 1998-06-04 Fanuc Ltd Robot control device having operation route simulation function
US6463358B1 (en) 1996-11-26 2002-10-08 Fanuc Ltd. Robot control device having operation route simulation function
JP2007515305A (en) * 2003-12-22 2007-06-14 エービービー・エーエス Control method, device and system for robot equipment

Similar Documents

Publication Publication Date Title
US4748554A (en) Machine monitoring system using motion detection for synchronization
EP0139769A4 (en) System of detecting absolute position of servo control system.
SE8604100L (en) INDUSTRIAL ROBOT EQUIPMENT
CA1132686A (en) Drill monitor system
EP0365736A3 (en) Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control
SE8902416D0 (en) ABSOLUTELY MEASURING DETECTOR EQUIPMENT FOR INDUSTRIAL BOTTLE
JPS6426909A (en) Detecting system for working abnormality of robot
JPS5949145B2 (en) Machine tool failure detection and monitoring methods
EP0205099A3 (en) Automatic fastener system with fastener detection means
JPS5440374A (en) Prevention of wrong operation of numerical-controlled machine tool
JPS6443084A (en) Servo abnormality detection
JPS6412222A (en) Absolute angle of rotation detector for industrial robot
JPS63174889A (en) Method of controlling robot
JPS60195603A (en) Robot
JP2576956B2 (en) Industrial robot rotation angle detector
SU1414566A1 (en) Apparatus for automatic readjustment and checking of wear of cutting tool
JPS6472873A (en) Registering method for belt-shaped film
JPS63229293A (en) Robot-operation abnormality detector
JPS6431209A (en) Method for detecting arm position
JPS6426383A (en) Motor drive circuit under closed loop control
JPS6415610A (en) Detecting apparatus for rotational angle of industrial robot
JPS60195616A (en) Industrial robot
EP0399807A3 (en) Cassette discriminating apparatus for magnetic recorders
JPS6445591A (en) Absolute position detector for robot joint
JPS6464574A (en) Motor controller