Parallel Link Robot Motor-State Detection of Collisions and Dislocations

The patent segments the abnormality detection task by analyzing state information from each motor separately and then synthesizing the results. The control device extracts state information (torque, speed, position) from each of the multiple motors independently, evaluates abnormalities for each motor individually, and then determines overall system abnormalities based on the combination of individual motor evaluations. This segmentation approach simplifies the complex multi-motor state analysis into manageable individual assessments.

The patent applies partial monitoring by focusing detection efforts on critical state parameters that most directly indicate abnormalities. Rather than continuously analyzing all possible motor state variables in detail, the control device selectively monitors key parameters such as torque deviations, speed anomalies, and position errors. This partial action approach maintains high detection accuracy for critical abnormalities while reducing the overall arithmetic processing load compared to exhaustive monitoring of all state information.

The patent implements preliminary protective action by detecting abnormalities early through continuous monitoring of motor state information and immediately responding before the abnormality can escalate. When the control device detects deviations in torque, speed, or position that indicate potential collisions or dislocations, it triggers protective measures such as stopping the affected motor or adjusting control parameters to prevent further damage. This preliminary action ensures system safety while minimizing interruption to overall productivity by addressing issues before they require complete system shutdown.