Abb Research Ltd.

Andre Carvalho Bittencourt

Kari Saarinen

Shiva Sander-Tavallaey

Hans Andersson

A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

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Linkoping, Sweden

Andre Carvalho Bittencourt