The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 16, 2021
Filed:
Feb. 07, 2019
Fanuc Corporation, Yamanashi, JP;
Tokyo Institute of Technology, Tokyo, JP;
Hiroshi Nakagawa, Yamanashi, JP;
Kenichiro Abe, Yamanashi, JP;
Yunfeng Wu, Yamanashi, JP;
Hikaru Yamashiro, Yamanashi, JP;
Hideo Matsui, Yamanashi, JP;
Soichi Arita, Yamanashi, JP;
Yukio Takeda, Tokyo, JP;
Masumi Ohno, Tokyo, JP;
FANUC CORPORATION, Yamanashi, JP;
TOKYO INSTITUTE OF TECHNOLOGY, Tokyo, JP;
Abstract
A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value.