In one embodiment, a method includes by a robotic system: accessing a trajectory plan to be executed by the robotic system, where the trajectory plan includes desired poses at specified times, respectively, for each actuator of the robotic system, executing the trajectory plan for each actuator of the robotic system; monitoring, in real-time for each actuator during execution of the trajectory plan, an actual pose of the respective actuator, determining, based on the monitoring of the actuators, that one or more of the actuators is lagging, where the actual pose of each lagging actuator deviates from the desired pose by more than an error threshold, and adjusting, in real-time responsive to determining that one or more of the actuators is lagging, one or more of the desired poses at one or more specified times, respectively, of the trajectory plan.

A drive controller controls an electric drive of an electric machine receiving electric energy via a converter. The drive controller has a normal operating mode and a special operating mode. In the special operating mode, the drive controller determines control signals for the converter and rotates the rotor shaft first at a starting rotational speed. The rotor shaft then coasts without an applied external force, with the drive controller determining from raw signals continuously received from a position sensor raw positions of the rotor shaft, and determining therefrom correction variables for use in the normal operating mode. In the normal operating mode, the drive controller determines from continuously received raw signals in combination with the correction variables determined in the special operating mode an actual position of the rotor shaft and controls the converter with control signals based on the actual position or rotational speed of the electrical machine.

An abnormality detection method for detecting an abnormality of an encoder provided for a robot includes: obtaining corrected position information according to commanded position information output from a controller that designates the rotational position of a motor and an output signal output from the encoder; and, determining, after comparing the corrected position information with the detected position information according to the output signal output from the encoder, the abnormality of the encoder, if there is a difference greater than or equal to a predetermined value between the corrected position information and the detected position information. The controller removes a vibration component of the robot corresponding to the weight of an attachment load from the commanded position information and compensates for a time delay to obtain the corrected position information.

In one embodiment, a method includes by a robotic system: accessing a trajectory plan to be executed by the robotic system, where the trajectory plan includes desired poses at specified times, respectively, for each actuator of the robotic system, executing the trajectory plan for each actuator of the robotic system; monitoring, in real-time for each actuator during execution of the trajectory plan, an actual pose of the respective actuator, determining, based on the monitoring of the actuators, that one or more of the actuators is lagging, where the actual pose of each lagging actuator deviates from the desired pose by more than an error threshold, and adjusting, in real-time responsive to determining that one or more of the actuators is lagging, one or more of the desired poses at one or more specified times, respectively, of the trajectory plan.

A drive controller controls an electric drive of an electric machine receiving electric energy via a converter. The drive controller has a normal operating mode and a special operating mode. In the special operating mode, the drive controller determines control signals for the converter and rotates the rotor shaft first at a starting rotational speed. The rotor shaft then coasts without an applied external force, with the drive controller determining from raw signals continuously received from a position sensor raw positions of the rotor shaft, and determining therefrom correction variables for use in the normal operating mode. In the normal operating mode, the drive controller determines from continuously received raw signals in combination with the correction variables determined in the special operating mode an actual position of the rotor shaft and controls the converter with control signals based on the actual position or rotational speed of the electrical machine.

An abnormality detection method for detecting an abnormality of an encoder provided for a robot includes: obtaining corrected position information according to commanded position information output from a controller that designates the rotational position of a motor and an output signal output from the encoder; and, determining, after comparing the corrected position information with the detected position information according to the output signal output from the encoder, the abnormality of the encoder, if there is a difference greater than or equal to a predetermined value between the corrected position information and the detected position information. The controller removes a vibration component of the robot corresponding to the weight of an attachment load from the commanded position information and compensates for a time delay to obtain the corrected position information.