Patent ID: 8751040

Claim:
A system for evaluating performance of a braking system for a joint of a robot during an emergency stop, comprising: a processor; and a memory comprising computer executable instructions that, when executed by the processor, cause the processor to perform operations comprising: accessing an expected value of a performance parameter, wherein the expected value of the performance parameter is a value that is expected after a brake is applied during an emergency stop event, wherein the expected value is a function of dynamics of the robot and a frictional capability of the brake; accessing a first limit and a second limit, wherein each of the first limit and the second limit is calculated as a function of the expected value of the performance parameter, the second limit being further from the expected value of the performance parameter than the first limit; identifying an actual value of the performance parameter using a set of performance data, wherein the performance data is measured with a sensor at the joint of the robot; and determining whether the actual value of the performance parameter is below the first limit, between the first limit and the second limit, or above the second limit.