CN108027298A - 一种用于异常检测的方法和装置 - Google Patents
一种用于异常检测的方法和装置 Download PDFInfo
- Publication number
- CN108027298A CN108027298A CN201580083250.9A CN201580083250A CN108027298A CN 108027298 A CN108027298 A CN 108027298A CN 201580083250 A CN201580083250 A CN 201580083250A CN 108027298 A CN108027298 A CN 108027298A
- Authority
- CN
- China
- Prior art keywords
- value
- mobile platform
- kinematic parameter
- estimated value
- parallel robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
- G05B23/0245—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a qualitative model, e.g. rule based; if-then decisions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40235—Parallel robot, structure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49278—Parallel link mechanism
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种用于异常检测的方法和装置，其中，该方法包括：获取并联机器人的移动平台的运动参数的估算值，其中所述估算值是基于安装在所述移动平台上的传感器的感测信息计算的；以及，基于所述估算值和所述运动参数的指定值，判断所述并联机器人是否出现异常。利用该方法和装置，能够可靠地检测并联机器人的异常。
Description
PCT国内申请，说明书已公开。
Claims (18)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/093137 WO2017070872A1 (zh) | 2015-10-28 | 2015-10-28 | 一种用于异常检测的方法和装置 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108027298A true CN108027298A (zh) | 2018-05-11 |
Family
ID=58629706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580083250.9A Pending CN108027298A (zh) | 2015-10-28 | 2015-10-28 | 一种用于异常检测的方法和装置 |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10974383B2 (zh) |
| EP (1) | EP3372977A4 (zh) |
| CN (1) | CN108027298A (zh) |
| WO (1) | WO2017070872A1 (zh) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7117697B2 (ja) * | 2019-03-08 | 2022-08-15 | ファナック株式会社 | ロボットのジョイントの異常検出装置及び異常検出方法 |
| CN110787026B (zh) * | 2019-11-11 | 2022-04-12 | 上海电气集团股份有限公司 | 一种基于多传感器信息的运动异常保护方法及康复设备 |
| CN112388636B (zh) * | 2020-11-06 | 2022-04-12 | 广州大学 | DDPG多目标遗传自优化三轴delta机器平台与方法 |
| CN113894797B (zh) * | 2021-11-25 | 2023-05-02 | 乐聚(深圳)机器人技术有限公司 | 基于动态电流检测的机器人保护控制方法、装置、设备及存储介质 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2082851A1 (en) * | 2008-05-16 | 2009-07-29 | ABB Research Ltd. | An industrial robot capable of supervising its environmental impact and a method thereof |
| CN102431036A (zh) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | 混合驱动柔索并联机器人实时故障检测装置及方法 |
| CN103604591A (zh) * | 2013-11-14 | 2014-02-26 | 沈阳工业大学 | 一种轮式移动机器人故障检测方法 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3114579B2 (ja) * | 1995-08-30 | 2000-12-04 | 松下電器産業株式会社 | 産業用ロボットおよびその制御装置 |
| DE10304019A1 (de) * | 2003-02-01 | 2004-11-04 | Kuka Roboter Gmbh | Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter |
| JP4960038B2 (ja) * | 2006-08-09 | 2012-06-27 | オークマ株式会社 | パラレルメカニズム機械の制御方法及び制御装置 |
| JP2008097363A (ja) * | 2006-10-12 | 2008-04-24 | Okuma Corp | 異常診断方法及びその装置 |
| JP4291385B2 (ja) * | 2007-09-27 | 2009-07-08 | ファナック株式会社 | ロボット手先部の速度に基づいてロボットを停止させるロボット制御装置 |
| JP5408211B2 (ja) | 2011-09-06 | 2014-02-05 | 株式会社安川電機 | パラレルリンクロボット、パラレルリンクロボットシステムおよびパラレルリンクロボットの制御方法 |
| EP2705935A1 (en) * | 2012-09-11 | 2014-03-12 | Hexagon Technology Center GmbH | Coordinate measuring machine |
| KR20160048492A (ko) * | 2014-10-24 | 2016-05-04 | 엘지전자 주식회사 | 로봇 청소기 및 이의 제어 방법 |
-
2015
- 2015-10-28 EP EP15906938.4A patent/EP3372977A4/en active Pending
- 2015-10-28 CN CN201580083250.9A patent/CN108027298A/zh active Pending
- 2015-10-28 WO PCT/CN2015/093137 patent/WO2017070872A1/zh active Application Filing
- 2015-10-28 US US15/771,207 patent/US10974383B2/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2082851A1 (en) * | 2008-05-16 | 2009-07-29 | ABB Research Ltd. | An industrial robot capable of supervising its environmental impact and a method thereof |
| CN102431036A (zh) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | 混合驱动柔索并联机器人实时故障检测装置及方法 |
| CN103604591A (zh) * | 2013-11-14 | 2014-02-26 | 沈阳工业大学 | 一种轮式移动机器人故障检测方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3372977A1 (en) | 2018-09-12 |
| EP3372977A4 (en) | 2019-09-11 |
| US10974383B2 (en) | 2021-04-13 |
| US20180314244A1 (en) | 2018-11-01 |
| WO2017070872A1 (zh) | 2017-05-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180511 |
|
| RJ01 | Rejection of invention patent application after publication |