Linear Guide Damage Detection Using Position Deviation and Motor Current

The patent extracts only the essential detection function needed for linear guide damage detection, eliminating the need for complex vibration and temperature sensors. By focusing on measuring only the positional deviation of the robot from its commanded position, the system achieves effective damage detection with minimal sensing requirements, thus reducing device complexity while maintaining detection capability.

Instead of directly measuring physical parameters like vibration and temperature, the patent uses a computational approach by comparing the actual robot position (measured via simple position sensors) with the commanded position. This indirect measurement method achieves damage detection through position deviation analysis, avoiding the need for complex physical sensors.

The patent segments the detection function by separating position measurement from damage determination. Position sensors measure only the robot's actual position, while the control unit compares this with the commanded position to calculate deviation. This segmentation allows the system to detect linear guide damage specifically through positional anomalies, independent of motor current fluctuations caused by other components.

The patent introduces position deviation as an intermediary parameter between the robot's motion and damage detection. Instead of directly using motor current or vibration signals, the system measures position deviation as an intermediate step, which then serves as the basis for determining linear guide damage. This intermediary measurement provides more specific and accurate damage indication.