JPS6426909A - Detecting system for working abnormality of robot - Google Patents
Detecting system for working abnormality of robotInfo
- 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
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.
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)
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 |
-
1987
- 1987-07-23 JP JP18236087A patent/JPS6426909A/en active Pending
Cited By (3)
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 |
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