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Robot state judgment method and device

A state judgment and robot technology, applied in manipulators, program control manipulators, special data processing applications, etc., can solve problems such as difficult to objectively judge the current state of the robot and predict the life of the robot

Pending Publication Date: 2021-12-17
SK恩普士有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, even if such a process is carried out, there are no objective indicators to judge the state of the robot, so it is difficult to objectively judge the current state of the robot or predict the life of the robot

Method used

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  • Robot state judgment method and device
  • Robot state judgment method and device

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Embodiment Construction

[0036] The technical idea of ​​the present disclosure can be varied in many ways and can have various embodiments, so specific embodiments will be shown in the drawings and described in detail. However, this is not intended to limit the technical idea of ​​the present disclosure to a specific embodiment, and it should be understood that all changes, equivalents, and substitutions within the scope of the technical idea of ​​the present disclosure are included.

[0037] In describing the technical idea of ​​the present disclosure, when it is judged that the detailed description of related well-known technologies may unnecessarily obscure the gist of the present disclosure, the detailed description thereof will be omitted. In addition, numbers (eg, first, second, etc.) used during the description of the present disclosure are merely identifiers used to distinguish one component from other components.

[0038] In addition, in the present disclosure, when it is mentioned that a com...

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Abstract

The invention provides a robot state judgment method and device. According to one aspect of the technical idea of the invention, the state judgment method of the robot comprises the following steps: obtaining first data and second data related to the operation of the robot; analyzing the operation of the robot in a frequency domain based on first data related to the operation of the robot to obtain a resonant frequency; obtaining a first comparison result by comparing the obtained resonance frequency with a reference resonance frequency; when the first comparison result is greater than a threshold value, performing DQ conversion on a three-phase signal based on second data related to operation of the robot to generate a Lissajous figure; obtaining a second comparison result by comparing the generated Lissajous figure with a reference Lissajous figure; and judging the state of the robot based on at least one of the first comparison result and the second comparison result.

Description

technical field [0001] The technical idea of ​​the present disclosure relates to a method and device for judging the state of a robot, and more specifically, relates to a method and a device for judging the state of a robot through frequency analysis and DQ transform (DQ transform) analysis. Background technique [0002] With the technical development of hardware and software, the application range of robot-related technologies has expanded from industrial robots to household robots, service robots and medical robots. In recent years, with the development of artificial intelligence, network, big data, deep learning and other technologies, the application range of robotics has been expanding. Therefore, as the application range of the robot expands, problems related to the maintenance of the robot may arise. More specifically, in order to maintain the robot, the need to judge the state of the robot and predict the lifetime of the robot is increasing. [0003] According to t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/17G06F30/20G06F17/14
CPCG06F30/17G06F30/20G06F17/14B25J9/163B25J9/1653B25J9/1674B25J9/1694B25J9/1602H02P21/50B25J13/088H02P23/14
Inventor 金湳芢朴镇成宋根荣金仁哲徐秉国金日星朴诚淳郑义三
Owner SK恩普士有限公司
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