Robotic Arm Brake-Locked Abnormality Detection Before Motion

The patent applies preliminary action by performing abnormality detection before the arm operates. The brake mechanism is activated to fix the arm in place, and sensors measure actual values (such as motor current, voltage, or position) while the arm is stationary. These measurements are compared against reference values to detect abnormalities before any operational movement occurs, thus preventing potential unsafe operations while maintaining detection capability.

The patent replaces mechanical operation-based detection with electrical/electronic measurement-based detection. Instead of requiring the arm to mechanically operate and use sensors to detect abnormalities during movement, the system uses sensors to measure electrical parameters (motor current, voltage, position signals) while the arm is mechanically fixed by the brake. This substitution allows detection to occur in a stationary state, maintaining safety while preserving detection capability through non-mechanical measurement methods.