A collision stress releasing device reversely rotates a feed motor by a return amount set in a return amount setter based on a contact position of a movement unit or a collision detection position regarded as a contact position. Generally, a large error does not occur even when the collision detection position is regarded as the contact position, but when the movement unit or the colliding member has low rigidity, a control of setting a return amount in response to the speed of the movement unit or a control of estimating an actual contact position from a rise curve of a load after a collision is more desirable.

A failure diagnosis device for a mechanical device provided with a motor as a source to drive a motion axis, and configured to acquire a moving position of the motion axis and a disturbance torque value applied to the motion axis every predetermined period, and to diagnose that a failure is occurring when the disturbance torque value is larger than a failure determination threshold, includes a maintenance effect determination unit configured to calculate a change in the disturbance torque value before and after conducting of a maintenance task when the maintenance task is conducted on the motion axis, and a failure diagnosis unit configured to re-set the failure determination threshold only when the change in the disturbance torque value is larger than a predetermined threshold.

A failure diagnosis device applicable to a mechanical device provided with a motor as a source to drive a motion axis, and configured to acquire a moving position of the motion axis and a disturbance torque value applied to the motion axis every predetermined period, and to diagnose that a failure is occurring when the disturbance torque value is larger than a failure determination threshold, includes a disturbance torque selector configured to calculate a change from a reference value of each of the acquired disturbance torque values, and to accumulate the disturbance torque values except each disturbance torque value having the change from the reference value equal to or larger than a predetermined threshold, and a failure diagnosis unit configured to diagnose a failure of the mechanical device by using the disturbance torque values accumulated by the disturbance torque selector.

A failure diagnosis device applicable to a mechanical device provided with. motors independent of One another as sources to drive motion axes, respectively, and configured to acquire a moving position of each motion axis and a disturbance torque value applied to the motion axis every predetermined period, and to diagnose a failure of the mechanical device, includes a failure diagnosis unit configured to diagnose the motion axis as a failure when the disturbance torque value is larger than a predetermined failure determination threshold, and a re-determination unit configured to conduct re-determination of the failure on the motion axis, which is diagnosed as the failure by the failure diagnosis unit, based on a previous maintenance record and a previous inspection result.

A failure diagnosis device for a mechanical device provided with a motor as a source to drive a motion axis, and configured to acquire a moving position of the motion axis and a disturbance torque value applied to the motion axis every predetermined period, and to diagnose that a failure is occurring when the disturbance torque value is larger than a failure determination threshold, includes a maintenance effect determination unit configured to calculate a change in the disturbance torque value before and after conducting of a maintenance task when the maintenance task is conducted on the motion axis, and a failure diagnosis unit configured to re-set the failure determination threshold only when the change in the disturbance torque value is larger than a predetermined threshold.

A robotic medical apparatus includes a kinematic chain including a stand unit, an articulation device, a positioning device, and a positionable end effector. The apparatus further includes a controller to control the positioning device. The robotic medical apparatus includes a measurement system to determine a force and/or a torque. The force and/or the torque is essentially acting at one point in the kinematic chain. A measurement signal from the measurement system is transmittable to the controller. The controller is configured to determine the force and/or torque that is acting, and as a function of a current position and/or of a current kinematic state, to determine a nominal force and/or a nominal torque. As a function of the difference between the force that is acting and/or the torque that is acting that has been determined and the nominal force and/or the nominal torque that has been determined, a collision is detected.

Method for collision monitoring for a periodically moving, electrically driven component of a container handling machine with another component, wherein a limit value for a measured variable that is indicative of a collision between the components is stipulated that, when exceeded, prompts the drive of the component to be shut down, characterized in that the limit value for the measured variable is determined dynamically for a current period of the movement of the component on the basis of the measured variable measured during a preceding period, and a container handling machine designed to perform the method.

In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of collision detected when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.

A device including a housing configured to attach to a robot arm, and a multi-axis motion sensor provided within the housing. The multi-axis motion sensor is configured to detect movement of the housing, and is configured to communicate with a controller of the robot arm. The device further includes a user interface configured to operate in conjunction with the multi-axis motion sensor, and a connection port provided on the housing. The connection port is configured to connect to an external device.