Patent ID: 7973508
Filing Date: 2011-07-05
Classification: B25J,G05B

Abstract:
1. A method for monitoring and diagnosing a robot mechanism comprising the steps of: storing known power drawing robot arm link characteristic pulley or gear ratios for connected mechanical arm links, to comprise a known set of initial robot arm time and position datum; mapping the gear ratio to corresponding resonant frequencies of the mechanical link and associated servo; digitizing and storing servo datum initial data time histories and out-of-limit frequency bands which when exceeded trigger signal perturbation origination identification of mapped gear ratio resonances; performing a time-frequency domain transform on signal to obtain normal base signal frequency content; continuously monitoring servo signal for raised pre-set action triggers comprising: whereby mechanical components having resonant frequencies based on power transmission characteristics in the robot components affecting current, voltage, position or torque signal are used for processing signal from matching resonant frequencies to identify link location of mechanical load deviances.