On-Line Recognition of Robot Operation by Using a Vibration Analysis
Yoshitsugu Kamiya*, Sakiichi Okabe*, Yasuo Yokoyama* and Touru Kobayashi**
*Faculty of Engineering, Kanazawa University, 2-40-20 Kodatsuno, Kanazawa, Ishikawa 920, Japan
** Toshiba Corp., 1385-1 Shimoishigami, Otawara, Tochigi 329-26, Japan
This paper considers a possibility of decision whether the robot hand is having a correct work or not by using the analysis of the mechanical vibration of robot that is doing an operation. The dynamics of robot is changed by the various works that the robot hand has or the incorrect movements of robot, and this change of robot dynamics can be analyzed by the residual vibration of robot. Here, this study showed that the state of operation of robot could be recognized on-line operation of robot by using a vibration analysis of robot that is the AR(Autoregressive) Model method.