WO2004071718A1 - 移動ロボットの異常検知装置 - Google Patents
移動ロボットの異常検知装置 Download PDFInfo
- Publication number
- WO2004071718A1 WO2004071718A1 PCT/JP2003/001578 JP0301578W WO2004071718A1 WO 2004071718 A1 WO2004071718 A1 WO 2004071718A1 JP 0301578 W JP0301578 W JP 0301578W WO 2004071718 A1 WO2004071718 A1 WO 2004071718A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- abnormality
- self
- diagnosis
- robot
- output
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34454—Check functioning controller, cpu or program
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34455—Different parameters are evaluated to indicate different faults
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42268—Safety, excess in error
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002010425A JP3811073B2 (ja) | 2002-01-18 | 2002-01-18 | 移動ロボットの異常検知装置 |
AU2003212000A AU2003212000A1 (en) | 2003-02-14 | 2003-02-14 | Abnormality detector of moving robot |
US10/540,470 US7348746B2 (en) | 2003-02-14 | 2003-02-14 | Abnormality detection system of mobile robot |
EP03705178A EP1598155B1 (en) | 2003-02-14 | 2003-02-14 | Abnormality detector of moving robot |
DE60336852T DE60336852D1 (de) | 2003-02-14 | 2003-02-14 | Fehlerdetektor für mobilen roboter |
PCT/JP2003/001578 WO2004071718A1 (ja) | 2002-01-18 | 2003-02-14 | 移動ロボットの異常検知装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002010425A JP3811073B2 (ja) | 2002-01-18 | 2002-01-18 | 移動ロボットの異常検知装置 |
PCT/JP2003/001578 WO2004071718A1 (ja) | 2002-01-18 | 2003-02-14 | 移動ロボットの異常検知装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004071718A1 true WO2004071718A1 (ja) | 2004-08-26 |
Family
ID=34362472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/001578 WO2004071718A1 (ja) | 2002-01-18 | 2003-02-14 | 移動ロボットの異常検知装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7348746B2 (ja) |
EP (1) | EP1598155B1 (ja) |
AU (1) | AU2003212000A1 (ja) |
DE (1) | DE60336852D1 (ja) |
WO (1) | WO2004071718A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8019473B2 (en) | 2008-04-15 | 2011-09-13 | Olympus Medical Systems Corp. | Manipulator and method of controlling manipulator |
CN108714911A (zh) * | 2018-07-13 | 2018-10-30 | 长沙紫宸科技开发有限公司 | 一种带自主液压分布动力的多关节仿生机械螯钳 |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040064195A1 (en) | 2002-07-15 | 2004-04-01 | Hugh Herr | Variable-mechanical-impedance artificial legs |
US8075633B2 (en) * | 2003-09-25 | 2011-12-13 | Massachusetts Institute Of Technology | Active ankle foot orthosis |
JP4373903B2 (ja) * | 2004-12-14 | 2009-11-25 | 本田技研工業株式会社 | 自律移動ロボット |
JP4930003B2 (ja) * | 2006-11-20 | 2012-05-09 | 株式会社日立製作所 | 移動ロボット |
US8909370B2 (en) * | 2007-05-08 | 2014-12-09 | Massachusetts Institute Of Technology | Interactive systems employing robotic companions |
KR20090043088A (ko) * | 2007-10-29 | 2009-05-06 | 삼성전자주식회사 | 영상 기반의 로봇 고장 자가 진단 장치 및 방법 |
FR2929873B1 (fr) * | 2008-04-09 | 2010-09-03 | Aldebaran Robotics | Architecture de controle-commande d'un robot mobile utilisant des membres articules |
US9554922B2 (en) | 2008-09-04 | 2017-01-31 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US20110082566A1 (en) | 2008-09-04 | 2011-04-07 | Herr Hugh M | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
JP5219956B2 (ja) * | 2009-07-23 | 2013-06-26 | 本田技研工業株式会社 | 移動体の制御装置 |
US8369992B2 (en) * | 2009-09-22 | 2013-02-05 | GM Global Technology Operations LLC | Embedded diagnostic, prognostic, and health management system and method for a humanoid robot |
US8442684B2 (en) * | 2009-09-22 | 2013-05-14 | GM Global Technology Operations LLC | Integrated high-speed torque control system for a robotic joint |
US8260460B2 (en) * | 2009-09-22 | 2012-09-04 | GM Global Technology Operations LLC | Interactive robot control system and method of use |
US20110295384A1 (en) | 2010-04-05 | 2011-12-01 | Herr Hugh M | Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same |
WO2013067407A1 (en) | 2011-11-02 | 2013-05-10 | Iwalk, Inc. | Biomimetic transfemoral prosthesis |
CA2876187C (en) | 2012-06-12 | 2021-01-26 | Iwalk, Inc. | Prosthetic, orthotic or exoskeleton device |
JP6015178B2 (ja) * | 2012-07-11 | 2016-10-26 | オムロン株式会社 | 安全システム |
JP6333688B2 (ja) * | 2014-09-24 | 2018-05-30 | 本田技研工業株式会社 | 移動ロボットの制御装置 |
SE538868C2 (en) | 2015-05-04 | 2017-01-17 | Husqvarna Ab | Improved error detection and resetting of a robotic work tool |
WO2016185593A1 (ja) * | 2015-05-21 | 2016-11-24 | 日産自動車株式会社 | 故障診断装置及び故障診断方法 |
US9821461B1 (en) | 2015-10-09 | 2017-11-21 | X Development Llc | Determining a trajectory for a walking robot to prevent motor overheating |
JP6500867B2 (ja) * | 2016-09-23 | 2019-04-17 | カシオ計算機株式会社 | ロボット、故障診断システム、故障診断方法及びプログラム |
DE102018203234A1 (de) * | 2018-03-05 | 2019-09-05 | Kuka Deutschland Gmbh | Vorausschauende Beurteilung von Robotern |
JP6969447B2 (ja) * | 2018-03-05 | 2021-11-24 | 日本電産株式会社 | ロボット制御装置、記録の作成方法およびプログラム |
CN109623877A (zh) * | 2019-01-21 | 2019-04-16 | 广州高新兴机器人有限公司 | 机器人的自检方法、自检系统及计算机存储介质 |
US11687058B2 (en) * | 2019-09-26 | 2023-06-27 | Canon Kabushiki Kaisha | Information processing method and information processing apparatus used for detecting a sign of malfunction of mechanical equipment |
CN114290312A (zh) * | 2021-12-02 | 2022-04-08 | 上海擎朗智能科技有限公司 | 机器人车轮检测方法、装置及存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07334227A (ja) * | 1994-06-07 | 1995-12-22 | Nippon Telegr & Teleph Corp <Ntt> | ロボット離隔制御通信装置及び方法 |
US6064167A (en) * | 1997-08-04 | 2000-05-16 | Honda Giken Kogyo Kabushiki Kaisha | Control system for controlling the knee joint actuators of a legged robot in response to a detected fall condition so as to lower the center of gravity of the robot |
EP1034899A1 (en) | 1998-06-09 | 2000-09-13 | Sony Corporation | Robot and method of its attitude control |
EP1103449A1 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Robot failure diagnosing systems |
JP2001277163A (ja) * | 2000-04-03 | 2001-10-09 | Sony Corp | ロボットの制御装置及び制御方法 |
JP2002144260A (ja) * | 2000-11-13 | 2002-05-21 | Sony Corp | 脚式移動ロボット及びその制御方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5396160A (en) * | 1991-03-11 | 1995-03-07 | General Motors Corporation | Method of real-time machine path planning from a math model |
JP3269852B2 (ja) * | 1992-05-29 | 2002-04-02 | 本田技研工業株式会社 | 脚式移動ロボットの姿勢安定化制御装置 |
JPH06114766A (ja) | 1992-10-01 | 1994-04-26 | Hitachi Ltd | マニピュレータの遠隔制御装置 |
JP4366617B2 (ja) * | 1999-01-25 | 2009-11-18 | ソニー株式会社 | ロボット装置 |
TW546874B (en) * | 2000-10-11 | 2003-08-11 | Sony Corp | Robot apparatus and its control method with a function of preventing an image from being stolen |
-
2003
- 2003-02-14 EP EP03705178A patent/EP1598155B1/en not_active Expired - Fee Related
- 2003-02-14 DE DE60336852T patent/DE60336852D1/de not_active Expired - Lifetime
- 2003-02-14 US US10/540,470 patent/US7348746B2/en not_active Expired - Lifetime
- 2003-02-14 WO PCT/JP2003/001578 patent/WO2004071718A1/ja active Application Filing
- 2003-02-14 AU AU2003212000A patent/AU2003212000A1/en not_active Abandoned
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07334227A (ja) * | 1994-06-07 | 1995-12-22 | Nippon Telegr & Teleph Corp <Ntt> | ロボット離隔制御通信装置及び方法 |
US6064167A (en) * | 1997-08-04 | 2000-05-16 | Honda Giken Kogyo Kabushiki Kaisha | Control system for controlling the knee joint actuators of a legged robot in response to a detected fall condition so as to lower the center of gravity of the robot |
EP1034899A1 (en) | 1998-06-09 | 2000-09-13 | Sony Corporation | Robot and method of its attitude control |
EP1103449A1 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Robot failure diagnosing systems |
JP2001150374A (ja) | 1999-11-25 | 2001-06-05 | Sony Corp | ロボットの故障診断システム |
JP2001277163A (ja) * | 2000-04-03 | 2001-10-09 | Sony Corp | ロボットの制御装置及び制御方法 |
JP2002144260A (ja) * | 2000-11-13 | 2002-05-21 | Sony Corp | 脚式移動ロボット及びその制御方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1598155A4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8019473B2 (en) | 2008-04-15 | 2011-09-13 | Olympus Medical Systems Corp. | Manipulator and method of controlling manipulator |
CN108714911A (zh) * | 2018-07-13 | 2018-10-30 | 长沙紫宸科技开发有限公司 | 一种带自主液压分布动力的多关节仿生机械螯钳 |
Also Published As
Publication number | Publication date |
---|---|
EP1598155B1 (en) | 2011-04-20 |
AU2003212000A1 (en) | 2004-09-06 |
US20060214621A1 (en) | 2006-09-28 |
US7348746B2 (en) | 2008-03-25 |
EP1598155A1 (en) | 2005-11-23 |
DE60336852D1 (de) | 2011-06-01 |
EP1598155A4 (en) | 2008-09-17 |
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