A robot system has first and second joint control units that respectively calculate first and second current values to be supplied to first and second motors based on deviations between first and second operation targets for the motors that are input from a higher device and actual operation of output shafts of the motor, and control operation of the output shafts by supplying current to the motors based on the current values, and an error estimation unit estimating an error in operation of a second joint due to bending and/or twisting of a robot arm based on the first current value and the actual operation of the output shaft of the first motor, in which the second joint control unit calculates the second current value to control the rotation angle of the output shaft of the second motor in a manner compensating for an angle error of the second joint.

A system determining whether the feed shafts are normal or abnormal, the system including: a command generation unit that moves the feed shafts in a forward direction at a predetermined speed from a lower limit value to an upper limit value of a range of feeding movement by the numerical controller; and a feed shaft abnormality determination unit that monitors a drive torque command during the movement of the feed shafts in the forward direction by the command generation unit, compares a monitoring result during the movement in the forward direction with a normal value of the drive torque command, determines that abnormality occurs when the drive torque command deviates from the normal value, and outputs the determination result.

A failure diagnosis system includes: a sensor; an abnormality determination unit that determines whether an abnormality occurs in a diagnosis target device corresponding to the sensor on the basis of diagnosis target information detected by the sensor; a screen display controller that identifiably notifies a diagnosis target device for which it is determined by the abnormality determination unit that the abnormality occurs; a layout setting unit that sets a facility layout of a facility; and a disposition setting unit that sets a disposition of each diagnosis target device in the facility layout. The screen display controller identifiably notifies a diagnosis target device associated with a sensor that detects diagnosis target information that is a basis of the determination that the abnormality occurs, in a disposition screen display region 521 in which diagnosis information acquisition units are disposed on the facility layout.

A failure diagnosis system includes: a sensor; an abnormality determination unit that determines whether an abnormality occurs in a diagnosis target device corresponding to the sensor on the basis of diagnosis target information detected by the sensor; a screen display controller that identifiably notifies a diagnosis target device for which it is determined by the abnormality determination unit that the abnormality occurs; a layout setting unit that sets a facility layout of a facility; and a disposition setting unit that sets a disposition of each diagnosis target device in the facility layout. The screen display controller identifiably notifies a diagnosis target device associated with a sensor that detects diagnosis target information that is a basis of the determination that the abnormality occurs, in a disposition screen display region 521 in which diagnosis information acquisition units are disposed on the facility layout.

Described herein is an exemplary torque sensing assembly for a feed mixer that includes, a frame of a feed mixer, the frame having a first frame portion and a second frame portion; a transmission having at least two speeds, a housing, an input shaft, and an output shaft, a load cell secured to a second frame portion of the frame; a mounting plate having a first side portion and a second side portion situated opposite the first side, the transmission secured by a plurality of fasteners to a top surface of the mounting plate, hinge rotatably connecting the first side portion to the first frame portion, and a load contact point situated in contact with the load cell, wherein a resultant torque is impartable to the housing to provide a downward force on the load cell, via the load contact point.

A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.

A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.

A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.

Described herein is an exemplary feed mixer apparatus that includes a feed mixer apparatus that includes, a mixing chamber for receiving feed, and having a mixing element situated therein for mixing the feed, a transmission having a plurality of gears and connected with a mixing element, a drive system having a plurality of drive system components, including the transmission, a torque sensor interconnected with at least one drive system component, a control unit having a display and a plurality of user inputs, wherein the control unit is in at least indirect communication with the transmission and the torque sensor, and wherein the control unit receives a plurality of outputs from one or more of the transmission and torque sensor, and based at least in part on the plurality of outputs, provides an output command to effectuate a gear change in the transmission.

Described herein is an exemplary torque sensing assembly for a feed mixer that includes, a frame of a feed mixer, the frame having a first frame portion and a second frame portion; a transmission having at least two speeds, a housing, an input shaft, and an output shaft, a load cell secured to a second frame portion of the frame; a mounting plate having a first side portion and a second side portion situated opposite the first side, the transmission secured by a plurality of fasteners to a top surface of the mounting plate, hinge rotatably connecting the first side portion to the first frame portion, and a load contact point situated in contact with the load cell, wherein a resultant torque is impartable to the housing to provide a downward force on the load cell, via the load contact point.