Robot system controlling method, program, recording medium, robot system, and diagnosis apparatus
A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.
1. A diagnosis apparatus for diagnosing a failure of an articulated robot, the articulated robot including a plurality of links connected by joints, a plurality of motors each configured to drive a corresponding one of the joints, and a plurality of encoders each configured to output a value based on a rotational angle of a corresponding one of the motors, the diagnosis apparatus comprising:
one or more processors configured to determine presence or absence of a failure in the articulated robot by analyzing a magnitude and a direction of a force acted on each of the joints based on an output value of each of the plurality of encoders and an output value of each of the plurality of motors.
2. The diagnosis apparatus according to claim 1 , wherein an output value of each of the plurality of encoders and an output value of each of the plurality of motors are stored in a recording unit.
3. The diagnosis apparatus according to claim 1 , wherein, when at least one of output values of the plurality of motors exceeds a threshold, the plurality of motors is stopped.
4. The diagnosis apparatus according to claim 1 , wherein, after the plurality of motors is stopped, the diagnosis apparatus determines presence or absence of the failure based on an output value of each of the plurality of encoders and an output value of each of the plurality of motors which are stored before the plurality of motors is stopped.
5. A non transitory recording medium storing instructions that, when executed by one or more processors of a diagnosis apparatus for diagnosing a failure of an articulated robot that includes a plurality of links connected by joints, a plurality of motors each configured to drive a corresponding one of the joints, and a plurality of encoders each configured to output a value based on a rotational angle of a corresponding one of the motors, cause the diagnosis apparatus to:
determine presence or absence of a failure in the articulated robot by analyzing a magnitude and a direction of a force acted on each of the joints based on an output value of each of the plurality of encoders and an output value of each of the plurality of motors.
6. A display apparatus comprising:
a display; and
one or more processors configured to cause the display to display presence or absence of a failure in an articulated robot,
wherein a state of a bearing for each of joints of the articulated robot is displayed by the display apparatus.
7. The display apparatus according to claim 6 , wherein a state of a reduction gear for each of joints of the articulated robot is displayed by the display apparatus.
8. The diagnosis apparatus according to claim 1 , wherein the one or more processors determines presence or absence of a failure in a reduction gear and a bearing of each of the joints separately.
9. The diagnosis apparatus according to claim 1 , further comprising a recorder configured to record load information about each of the plurality of motors and a joint angle with respect to each of the joints.
10. The diagnosis apparatus according to claim 9 , wherein, in a case where abnormality is detected in movement of the articulated robot, the one or more processors stops the articulated robot and determines presence or absence of a failure in each of the joints based on the load information and the joint angle recorded by the recorder in a period from before detection of the abnormality until detection of the abnormality.
11. The diagnosis apparatus according to claim 9 , wherein the recorder at least records the load information and the joint angle for a predetermined period of time before detection of the abnormality.
12. The diagnosis apparatus according to claim 11 , wherein the recorder stores the load information and the joint angle for the predetermined period of time and deletes movement information corresponding to a time exceeding the predetermined period of time.
13. The diagnosis apparatus according to claim 1 , further comprising a display unit configured to display a joint in which the failure has occurred and information for identifying a part of the joint where the failure has occurred.