公开(公告)号：US10539499B2

公开(公告)日：2020-01-21

申请号：US14224752

申请日：2014-03-25

Applicant: ABB Research Ltd.

Inventor： Shiva Sander-Tavallaey ,  Kari Saarinen ,  Hans Andersson ,  Andre Carvalho Bittencourt

IPC: G01B5/28 ,  G01N19/08 ,  B25J9/16

Abstract: A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.