Patent ID: 7603200

Claim:
A method for assessing a state of at least one axial joint of an industrial robot, which comprises the steps of: determining a state of wear of the at least one axial joint on a basis of data of a mechanical backlash present at the at least one axial joint of the industrial robot; determining a first loading state of the at least one axial joint on a basis of data of a torque profile of the at least one axial joint during at least one first working cycle of the industrial robot; determining a second loading state of the at least one axial joint on a basis of data of a movement sequence of the at least one axial joint during at least one second working cycle of the industrial robot; and carrying out an assessment of the state by pre-assessing the state of wear, the first loading state, and the second loading state and a subsequent comparison of the first loading state and the second loading state with an empirically obtained comparison value matrix, for assessing the state of the at least one axial joint.