Robot Servo Abnormality Localization Using Current Deviation Patterns
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot maintenance systems cannot accurately determine the position of abnormalities, leading to uncertainty in which parts need replacement, causing inefficiencies and increased maintenance time.
Innovation Solution
A method and program that detect abnormalities in robots using servo motors by analyzing current and position deviation values, calculating mean square and peak values, and matching them to predefined patterns to estimate the exact position of the abnormality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional abnormality detection methods are used to monitor current and deviation values, then abnormality detection capability is improved, but the ability to locate the specific position of the abnormality deteriorates
Solution Approach 1:
The patent segments the abnormality detection process into two distinct phases: first detecting that an abnormality has occurred using current and deviation values, then separately detecting the position of the abnormality by analyzing the relationship between multiple servo motors. This segmentation allows each phase to be optimized independently, resolving the contradiction between detection capability and position information.
Solution Approach 2:
The patent introduces the relationship analysis between multiple servo motors as an intermediary mechanism. By examining how abnormalities in one servo motor affect other servo motors in the system, the patent can infer the position of the abnormality without directly measuring it, thus preserving position information that would otherwise be lost.
2Reliability
If general abnormality detection is implemented, then system reliability is improved, but maintenance efficiency deteriorates due to inability to locate the abnormality position
Solution Approach 1:
The patent performs preliminary analysis of the relationship between multiple servo motors during normal operation and when abnormalities occur. By pre-establishing the patterns of interaction between servo motors under different conditions, the system can quickly determine abnormality positions without time-consuming manual inspection, thus improving maintenance efficiency while maintaining system reliability.
Solution Approach 2:
The patent implements a feedback mechanism where the detected abnormality position information is used to guide maintenance actions. The system continuously monitors servo motor relationships and provides real-time feedback about abnormality locations, enabling maintenance personnel to directly address the problematic components and improving overall maintenance productivity.
3Measurement precision
If detailed analysis of servo motor parameters is performed to locate abnormalities, then position detection accuracy is improved, but computational complexity and processing time increase
Solution Approach 1:
The patent extracts only the essential relationship patterns between servo motors that are necessary for position detection, rather than performing comprehensive analysis of all servo motor parameters. By focusing specifically on the interrelationships between motors during abnormal conditions, the system achieves accurate position detection while minimizing computational complexity and processing time.
Data Source
AI summary
A method estimates a position where an abnormality has occurred. The method for estimating a position where an abnormality has occurred in a robot includes an abnormality detection step of detecting occurrence of an abnormality, and a position detection step of detecting a position where the abnormality has occurred when the occurrence of the abnormality is detected in the abnormality detection step.