Patent ID: 7328123

Claim:
Monitoring method for a drive system of a robot, more specifically a painting robot, with a motor and a moving part driven by the motor, with the following steps: measurement of at least one drive-side motion quantity (φ A1 , ω A1 ) of the electric motor, measurement of at least one driven-side motion quantity (x M1 , a M1 ) of the moving part, determination of an error signal (F STÖR ) as a function of the motion quantities (φ A1 , ω A1 ) of the electric motor measured on the drive side and of the motion quantities (x M1 , a M1 ) of the moving part measured on the driven side; measuring an armature current in an armature circuit of the electric motor; measuring a voltage induced n the armature; and calculating a comparison value (F MODELL,1 ) from the armature current, the induced voltage and the at least one driven-side motion quantity (x M1 , a M1 ).