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Fredrik Skantze

Torgny Brog&aring;rdh

Stig Moberg

Ingvar Jonsson

Staffan Elfving

A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;,, {dot over (&psgr;)},, {umlaut over (&psgr;)},). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;,) is generated by the servo in dependence on the control error torque (&tgr;,) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (&psgr;)},), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;,) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)},) and the torque signal from the servo (&tgr;,), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (&psgr;,), the current speed ({dot over (&psgr;)},), the current acceleration ({umlaut over (&psgr;)},) any of the dynamic parameters, the control error torque (&tgr;,) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)},) and the torque signal from the servo (&tgr;,). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.

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Västerås, Sweden

Fredrik Skantze