Balancer abnormality detection system and balancer abnormality detection method
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United States of America Patent
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Feb 6, 2024
Grant Date -
Jul 1, 2021
app pub date -
Dec 1, 2020
filing date -
Dec 26, 2019
priority date (Note) -
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Abstract
A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.
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