Manipulator e.g. six-axis articulated robot, monitoring method, involves determining driving power size and model energy parameter of manipulator, where determined driving power size and model energy parameter are compared

摘要

The method involves determining a driving power size and a model energy parameter of a manipulator i.e. robot (1), where the determined driving power size and the model energy parameter are compared. A model parameter is corrected based deviation between the driving power size and the model energy parameter. A safety response is executed when the deviation between the driving power size and the model energy parameter exceeds a predetermined threshold value. Independent claims are also included for the following: (1) a device for monitoring a manipulator (2) a computer program product comprising instructions for monitoring a manipulator.