An error diagnosis method includes: the parameter value obtaining step of obtaining multiple parameter values; the error detection step of calculating a Mahalanobis distance from a unit space based on the obtained parameter values and diagnosing whether or not error is caused at the real machine based on the calculated Mahalanobis distance; the error portion estimation step of estimating a error portion of the real machine based on the Mahalanobis distance calculated at the error detection step; and the matching determination step of structuring an error analyzing model for analyzing the real machine based on the error portion of the real machine estimated at the error portion estimation step and determining whether or not an output analytical signal of the real machine obtained by analysis of the error analyzing model and the output signal output from the real machine match with each other.

A robot including a plurality of joints each configured to rotate about an axis line; a torque sensor S1 configured to detect torque about the axis line of a target joint as one of the plurality of joints; angle information detection units configured to detect information related to a rotation angle of each of the joints about the axis line; a torque change amount estimation unit configured to estimate a change amount of the torque detected by the torque sensor due to a load other than the torque about the axis line of the target joint based on the detected information; and a correction unit configured to correct the torque detected by the torque sensor by using the estimated change amount.

A method for calibrating a positional relation between a main spindle and a contact tool sensor attached to a table in a machine tool. The method includes: mounting a reference tool on the main spindle and obtaining measurement position coordinates as respective tool sensor measurement values, the measurement position coordinates being of a distal end of the reference tool in at least two different measurement regions on an upper surface of the contact tool sensor; outputting predetermined difference values based on the respective tool sensor measurement values; determining an abnormality when the difference values are compared with preliminarily set acceptable values and at least one of the difference values are out of the acceptable values; and calibrating a positional relation between the main spindle and the contact tool sensor based on the respective tool sensor measurement values when the abnormality is not determined at the determining of abnormality.

An error measurement method for a machine tool measures an error in a machine tool that includes two or more translational axes, a table, and a spindle head. The error measurement method includes installing a masterwork having a plurality of targets on the table and detecting a position of each of the targets using a sensor mounted to the spindle head to acquire a measured value regarding the position of each of the targets and to acquire an error value regarding the position of each of the targets using each of the acquired measured values and a preliminarily acquired calibration value regarding the position of each of the targets. The error measurement method further includes calculating at least one disturbance index value indicative of a degree of disturbance in the measurement for each of the targets, and determining whether the disturbance index value exceeds a preliminarily set threshold.

Disclosed is an electronic device including a robot arm configured to include at least one coupling portion configured to be coupled to a force sensor to which a specified object is attached, at least one actuator configured to drive the robot arm such that a position of the at least one coupling portion is changed, and a processor electrically connected to the actuator, wherein the processor is configured to: receive a first measurement value of the force sensor due to a weight of the specified object with respect to a first position of the at least one coupling portion, receive a second measurement value of the force sensor due to the weight of the specified object with respect to a second position of the at least one coupling portion, receive a third measurement value of the force sensor due to the weight of the specified object with respect to a third position of the at least one coupling portion, and estimate a relationship between a first coordinate system relative to the at least one coupling portion and a second coordinate system relative to the force sensor based at least on at least the first measurement value, the second measurement value, and the third measurement value to calculate a magnitude of an external force acting on the specified object.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A measurement system configured to determine an apparatus parameter related to a working procedure of an apparatus involving movements. The system includes a measurement unit including a sensor member configured to measure accelerations and generate a sensor signal in dependence thereto, and to apply the signal(s) to a processing unit. The measurement unit is configured to be arranged at the apparatus such that the measurement unit, during a measurement procedure, is repetitively moved in a loop, displaying a loop trajectory, in both forward and backward directions along the loop trajectory, and to perform measurements of accelerations during the measurement procedure. The processing unit is configured to determine an apparatus parameter of working procedure movements which are indicated in the measured accelerations, and only based upon the measured accelerations, and configured to calculate a measure of the apparatus parameter only based upon one or many parameters of the accelerations.

An error measurement method for a machine tool measures an error in a machine tool that includes two or more translational axes, a table, and a spindle head. The error measurement method includes installing a masterwork having a plurality of targets on the table and detecting a position of each of the targets using a sensor mounted to the spindle head to acquire a measured value regarding the position of each of the targets and to acquire an error value regarding the position of each of the targets using each of the acquired measured values and a preliminarily acquired calibration value regarding the position of each of the targets. The error measurement method further includes calculating at least one disturbance index value indicative of a degree of disturbance in the measurement for each of the targets, and determining whether the disturbance index value exceeds a preliminarily set threshold.

A controller including a processor configured to obtain a message from a task performing agent of a group of task performing agents allocated to a plurality of tasks, wherein the message comprises information about one or more assessments of the task performing agent, wherein the one or more assessments are based on a sensing process performed by one or more sensors of the task performing agent, wherein the task performing agent is an autonomous machine or a human agent equipped with sensors; and allocate a task of the plurality of tasks to the task performing agent, based on the information and based on whether the task performing agent is an autonomous machine or a human agent.

An abnormality determination apparatus, which determines abnormality of a temperature sensor in a machine tool, includes: a temperature pattern storage unit which stores a normal pattern indicating temperature change relative to machining time for a machining classification of the machine tool; a temperature data acquisition unit which acquires temperature data outputted by the temperature sensor provided to the machine tool; a machining classification determination unit which determines a machining classification of the machine tool; a comparison data acquisition unit which extracts the normal pattern relative to a determined machining classification from the temperature pattern storage unit; a comparison unit which compares the extracted normal pattern, and as acquired pattern indicating temperature change relative to machining time according to the acquired temperature data; and an abnormality determination unit which determines abnormality of a temperature sensor based on a comparison result.