A method and apparatus are for abnormality detection. The method includes: acquiring an estimated value of a movement parameter of a mobile platform of a parallel robot. The estimated value is calculated based on sensing information about a sensor mounted on the mobile platform. Based on the estimated value and a designated value of the movement parameter, the method includes determining whether an abnormality occurs in the parallel robot. By way of the method and apparatus, abnormality of a parallel robot can be detected reliably.

In a movement system, the movement limit is determined by having a degree of freedom of the movement system defined and the respective current movement system state being available. Subsequently, an articulation trajectory is determined for each upper articulation point of the movement system, on which articulation trajectory the articulation point can move along the degree of freedom. The movement limit is then derived by calculating the point of intersection of the actuator movement in an extreme deflection with its respective articulation trajectory.

A method and apparatus are for abnormality detection. The method includes: acquiring an estimated value of a movement parameter of a mobile platform of a parallel robot. The estimated value is calculated based on sensing information about a sensor mounted on the mobile platform. Based on the estimated value and a designated value of the movement parameter, the method includes determining whether an abnormality occurs in the parallel robot. By way of the method and apparatus, abnormality of a parallel robot can be detected reliably.