The present disclosure discloses a method, system and device for replaying movement of a robot. In an embodiment, the method includes a controller receiving a log file in which information about a movement of the robot is recorded; the controller obtaining information of position points passed by the robot when performing the movement based on the log file; and the controller sending the information of position points passed by the robot when performing the movement to a replaying device, to enable the replaying device to replay the movement of the robot according to the information of position points. The technical solutions of the present disclosure may increase the accuracy of locating where the problem is when errors or something unexpected happened to the robot.

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.

Processing of robotics log data may be performed onboard the robotics itself and log data may be converted to a form that is more suitable for parallel processing. In one aspect, robotics log data may include multiple channels. These channels are received and are used to generate data packages referred to as shards. Each shard is associated with a time window. For example, each shard may contain the robotics log data from all channels for the relevant time window. Additional data, such as an index and metadata, may be included with the shards so that each shard may be processed independently. Each shard is independently consumable and, as a result, the shards may be processed in parallel to accomplish some task. Furthermore, the creation of shards and the subsequent processing of shards may occur onboard the robotics itself.

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.

The present disclosure relates to intelligent control technology, and provides a robot, a method for controlling motion of a robot and a non-transitory readable medium. The method includes: acquiring current motion state of the robot; when the robot is in abnormal motion state, storing received data; when the robot returns to normal motion state, acquiring restoring time for the robot to return from the abnormal motion state to the normal motion state; and controlling the robot to perform a corresponding action after the robot returns to the normal motion state. In this way when multiple robots perform synchronized tasks and one of them is interrupted, this robot may perform the corresponding action based on the fault duration and the data which correspond to the action the robot needs to perform in the normal motion state. Thus, this robot may keep its actions consistent with the others.

In relation to work performed by a robot, which is an industrial machine, the objective of the present invention is to enable a cause of a processing failure or abnormality to be understood easily from a stored operation history, and to enable problems that may occur in the future to be prevented. This objective can be achieved by means of a robot system configured such that: an execution history of a program for executing work on a workpiece is stored; information from sensors and information about processing results of the work performed on the workpiece are stored in association with the execution of each program block of the program; and parameter information indicating the cause of a failure in the processing results is added to the execution history when a failure occurs in the processing results.

The present disclosure relates to intelligent control technology, and provides a robot, a method for controlling motion of a robot and a non-transitory readable medium. The method includes: acquiring current motion state of the robot; when the robot is in abnormal motion state, storing received data; when the robot returns to normal motion state, acquiring restoring time for the robot to return from the abnormal motion state to the normal motion state; and controlling the robot to perform a corresponding action after the robot returns to the normal motion state. In this way when multiple robots perform synchronized tasks and one of them is interrupted, this robot may perform the corresponding action based on the fault duration and the data which correspond to the action the robot needs to perform in the normal motion state. Thus, this robot may keep its actions consistent with the others.

The present disclosure discloses a method, system and device for replaying movement of a robot. In an embodiment, the method includes a controller receiving a log file in which information about a movement of the robot is recorded; the controller obtaining information of position points passed by the robot when performing the movement based on the log file; and the controller sending the information of position points passed by the robot when performing the movement to a replaying device, to enable the replaying device to replay the movement of the robot according to the information of position points. The technical solutions of the present disclosure may increase the accuracy of locating where the problem is when errors or something unexpected happened to the robot.

A robot controller configured to be able to mitigate the effect that an emergency stop may have on a robot is disclosed. The robot controller includes: a load detection unit which detects the load of a motor for driving each individual articulated axis of the robot; a speed detection unit which detects an axial speed at each individual articulated axis of the robot; a cause-of-stop identifying unit which, when an emergency stop of the robot occurs, identifies a cause of the occurrence of the emergency stop; and a recording unit which records the cause of the occurrence of the emergency stop by associating the cause with the axial speed or the load of the motor. The robot controller may further include a display unit which displays information representing the state of occurrence of the emergency stop of the robot.

A robot controller configured to be able to mitigate the effect that an emergency stop may have on a robot is disclosed. The robot controller includes: a load detection unit which detects the load of a motor for driving each individual articulated axis of the robot; a speed detection unit which detects an axial speed at each individual articulated axis of the robot; a cause-of-stop identifying unit which, when an emergency stop of the robot occurs, identifies a cause of the occurrence of the emergency stop; and a recording unit which records the cause of the occurrence of the emergency stop by associating the cause with the axial speed or the load of the motor. The robot controller may further include a display unit which displays information representing the state of occurrence of the emergency stop of the robot.