Patent ID: 8649906
Filing Date: 2014-02-11
Classification: B25J,G01L,G05B

Abstract:
1. An industrial robot, comprising: first and second components movable relative to each other around at least one joint, the first and second components selected from the group consisting of a carousel, a robot arm, and a robot hand; a first sensor circuit configured only on the first component and a second sensor circuit configured only on the second component, the first sensor circuit configured to detect a first force incident on the first component and the second sensor circuit configured to detect a second force incident on the second component; and a control unit having first and second evaluation units in communication with the first and second sensor circuits, respectively, the first evaluation unit configured to evaluate the first force and the second evaluation unit configured to evaluate the second force, wherein at least one of the first or second evaluation units is further configured to compare the first force to the second force for redundant evaluation of the first and second forces, wherein at least one of the first evaluation unit or the second evaluation unit has a comparison device configured to compare the first or second force to a corresponding modeled force, the modeled force being determined from a model of the industrial robot in a corresponding mode of operation to that in which the first and second forces were measured.