A sensor unit, a control method, and a recording medium are provided for reducing data amount of failure diagnosis data while detecting a failure of a device performing work while moving more reliably. The disclosure includes an output limiting part outputting the failure diagnosis data only for a period in which an absolute value of the acceleration is equal to or less than a predetermined threshold.

A server includes a processor to supply a torque command to an amplifier that controls a motor that drives a linkage; include, in the torque command, an alternating signal wave that is to test a frequency response of the motor and the linkage; receive, from the amplifier, an instantaneous torque value of the motor and an instantaneous mechanical parameter value of the linkage at each time step according to a sampling rate and over a period of time; store an aggregate of both these values; determine, for a first frequency of the alternating signal wave, a magnitude and phase shift between the aggregate of the instantaneous mechanical parameter values and the aggregate of the instantaneous torque values; and generate, using an aggregate of magnitude and phase shift data for multiple frequencies of the alternating signal wave, a fingerprint to be used in performing diagnostics of motor and linkage.

Methods and devices for diagnosing a robot. The method includes obtaining a first signal generated by a rotating component of the robot during operation of the robot. The first signal includes motion information of the rotating component. The first signal is preprocessed to filter out a part of the motion information in the first signal. The preprocessed first signal or spectrum information about the preprocessed first signal is sent to a server for diagnosing the robotU. A second signal is received from the server, wherein the second signal includes diagnostic information indicating whether a sub-component of the rotating component has a failure.

A failure diagnosing device of a drive mechanism of a mechanical apparatus with a body including a motor, a speed reducer configured to slow down rotational power of the motor, and an operation part configured to operate by the slowed rotational power, and a vibration-proof controller configured to perform a vibration-proof control to prevent vibration of the body, the mechanism including the speed reducer and the motor. The device sends a command for suspending the vibration-proof control to the controller, then identifies an acceleration-and-deceleration period during which operation of the mechanical apparatus of which the control is suspended accelerates and decelerates, and determines whether the mechanism indicates a sign of failure based on a change in a frequency spectrum of load current of the motor or a current value having a correlation with the load current to a change in a rotational speed of the motor during the acceleration-and-deceleration period.

A method of the present disclosure includes (a) a step of receiving track information for specifying a track of a target operation of a robot, (b) a step of acquiring, according to an instruction to adjust a parameter set for controlling the target operation, about one or more initial parameter sets, values of evaluation indicators of control results obtained when causing the robot to execute the target operation using the respective initial parameter sets, (c) a step of displaying, on a display section, one or more reference displays based on the acquired values of the evaluation indicators, and (d) a step of receiving an input of condition information for deciding a condition of optimization processing for the parameter set, the condition information being condition information about the evaluation indicators, performing the optimization processing for the parameter set according to the condition information, and determining a value of a new parameter set.

A server includes a processor to supply a torque command to an amplifier that controls a motor that drives a linkage; include, in the torque command, an alternating signal wave that is to test a frequency response of the motor and the linkage; receive, from the amplifier, an instantaneous torque value of the motor and an instantaneous mechanical parameter value of the linkage at each time step according to a sampling rate and over a period of time; store an aggregate of both these values; determine, for a first frequency of the alternating signal wave, a magnitude and phase shift between the aggregate of the instantaneous mechanical parameter values and the aggregate of the instantaneous torque values; and generate, using an aggregate of magnitude and phase shift data for multiple frequencies of the alternating signal wave, a fingerprint to be used in performing diagnostics of motor and linkage.

Methods and systems include ways to implement change analysis of an automated production line including at least one robot. Monitoring a plurality of operating parameters associated with the automated production line including the at least one robot is followed by recording at least one change to the plurality of operating parameters. A notification is then provided identifying the at least one change to the plurality of operating parameters. The notification can include mapping the at least one change onto a graphical representation of the automated production line, thereby identifying a portion of the automated production line affected by the at least one change. As a result, at least one of the operating parameters can be adjusted in response to the notification. An action can also be performed in response to the notification. In this manner, the change analysis can optimize operation of the automated production line.

An abnormality determination device includes a control unit for determining an abnormality of a robot, the control unit being configured to calculate a measurement probability distribution which is a probability distribution using disturbance torque acquired during a predetermined period as a random variable. The control unit causes an average of the calculated measurement probability distribution to conform to an average of an evaluation normal model which is a predetermined probability distribution, compares the measurement probability distribution with the evaluation normal model of which the respective averages conform to each other, and determines an abnormality of the robot in accordance with a result of the comparison.

A protocol created in such a format that a series of operations for process targets in the fields of engineering related to living organisms are executable by a robot 10 is acquired (S1). The robot 10 is controlled to implement the operations for the process targets according to the protocol (S2). In order to modify the protocol after the implementation of the operations, modification information on at least one action among basic actions which serve as bases for implementing the operations and is performed on an instrument used by the robot 10 in the operations, and complementary actions which complement the basic actions is acquired (S5). The robot 10 is controlled to produce processed products from the process targets by using the protocol modified based on the modification information (S7).

Methods and systems include ways to implement change analysis of an automated production line including at least one robot. Monitoring a plurality of operating parameters associated with the automated production line including the at least one robot followed by recording at least one change to the plurality of operating parameters. A notification is then provided identifying the at least one change to the plurality of operating parameters. The notification can include mapping the at least one change onto a graphical representation of the automated production line, thereby identifying a portion of the automated production line affected by the at least one change. As a result, at least one of the operating parameters can be adjusted in response to the notification. An action can also be performed in response to the notification. In this manner, the change analysis can optimize operation of the automated production line.