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1. (WO2018079075) METHOD AND DEVICE FOR DETECTING ABNORMALITY OF ENCODER, AND ROBOT CONTROL SYSTEM
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Pub. No.: WO/2018/079075 International Application No.: PCT/JP2017/031701
Publication Date: 03.05.2018 International Filing Date: 04.09.2017
IPC:
B25J 19/06 (2006.01) ,G01D 5/12 (2006.01) ,G01D 5/244 (2006.01) ,G05B 9/02 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06
Safety devices
G PHYSICS
01
MEASURING; TESTING
D
MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5
Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12
using electric or magnetic means
G PHYSICS
01
MEASURING; TESTING
D
MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5
Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12
using electric or magnetic means
244
influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
9
Safety arrangements
02
electric
Applicants:
パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP/JP]; 大阪府大阪市中央区城見2丁目1番61号 1-61, Shiromi 2-chome, Chuo-ku, Osaka-shi, Osaka 5406207, JP
Inventors:
衣笠 靖啓 KINUGASA Yasuhiro; --
相見 圭 AIMI Kei; --
橋本 敦実 HASHIMOTO Atsumi; --
Agent:
鎌田 健司 KAMATA Kenji; JP
前田 浩夫 MAEDA Hiroo; JP
Priority Data:
2016-20756824.10.2016JP
2017-00505816.01.2017JP
Title (EN) METHOD AND DEVICE FOR DETECTING ABNORMALITY OF ENCODER, AND ROBOT CONTROL SYSTEM
(FR) PROCÉDÉ ET DISPOSITIF DE DÉTECTION D'ANOMALIE DE CODEUR, ET SYSTÈME DE COMMANDE DE ROBOT
(JA) エンコーダの異常検出方法及び異常検出装置、並びにロボット制御システム
Abstract:
(EN) Disclosed is a method for detecting an abnormality of an encoder, said method having an output step, a control step, an information acquisition step, and an abnormality determining step. In the abnormality determining step, command position information and motor detection position information calculated on the basis of an output signal are compared with each other, and in the cases where there is a difference of a predetermined value or more between the command position information and the motor detection position information, it is determined that the encoder is abnormal.
(FR) Procédé de détection d'une anomalie d'un codeur, ledit procédé comprenant une étape de sortie, une étape de commande, une étape d'acquisition d'informations et une étape de détermination d'anomalie. Lors de l'étape de détermination d'anomalie, des informations de position d'instruction et des informations de position de détection de moteur calculées sur la base d'un signal de sortie sont comparées entre elles, et dans les cas où il y a une différence d'une valeur prédéfinie ou plus entre les informations de position d'instruction et les informations de position de détection de moteur, il est déterminé que le codeur est anormal.
(JA) エンコーダの異常検出方法は、出力ステップと、制御ステップと、情報取得ステップと、異常判定ステップとを有する。異常判定ステップは、指令位置情報と、出力信号に基づいて算出されたモータの検出位置情報とを比較し、指令位置情報とモータの検出位置情報との間に所定値以上の差があった場合に、エンコーダを異常と判定する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)