US 11,724,391 B2
Method and apparatus for determining status of a robot
Nam In Kim, Gyeonggi-do (KR); Jin Sung Park, Gyeonggi-do (KR); Keun Young Song, Gyeonggi-do (KR); In Cheol Kim, Seoul (KR); Byoung Guk Seo, Chungcheongnam-do (KR); Il Sung Kim, Gyeonggi-do (KR); Soung Sun Park, Gyeonggi-do (KR); and Ei Sam Jeong, Gyeonggi-do (KR)
Assigned to SK ENPULSE CO., LTD., Gyeonggi-Do (KR)
Filed by SK ENPULSE CO., LTD., Gyeonggi-do (KR)
Filed on Jun. 16, 2021, as Appl. No. 17/349,286.
Claims priority of application No. 10-2020-0072793 (KR), filed on Jun. 16, 2020.
Prior Publication US 2021/0387339 A1, Dec. 16, 2021
Int. Cl. B25J 9/16 (2006.01); H02P 21/00 (2016.01); B25J 13/08 (2006.01); H02P 23/14 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/163 (2013.01); B25J 13/088 (2013.01); H02P 21/50 (2016.02); H02P 23/14 (2013.01)] 16 Claims
OG exemplary drawing
 
9. A apparatus for determining the status of a robot, the apparatus comprising:
a data acquisition unit configured to acquire first data and second data related to an operation of the robot; and
a status determination unit configured to acquire a resonance frequency by analyzing the operation of the robot in a frequency region based on the first data related to the operation of the robot, acquire a first comparison result by comparing the acquired resonance frequency with a reference resonance frequency, when the first comparison result is a threshold value or more, generate a Lissajous figure by DQ transforming a three-phase signal based on the second data related to the operation of the robot, acquire a second comparison result by comparing the generated Lissajous figure with a reference Lissajous figure, and determine the status of the robot based on at least one of the first comparison result and the second comparison result.