US 12,425,101 B2
Robot
Ryusuke Ishizaki, Saitama (JP); and Tetsuro Tanazawa, Saitama (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Feb. 15, 2023, as Appl. No. 18/169,817.
Claims priority of application No. 2022-031195 (JP), filed on Mar. 1, 2022.
Prior Publication US 2023/0283368 A1, Sep. 7, 2023
Int. Cl. H04B 10/07 (2013.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); G06N 3/008 (2023.01); H04B 10/079 (2013.01)
CPC H04B 10/0795 (2013.01) [B25J 9/106 (2013.01); B25J 9/1697 (2013.01); G06N 3/008 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A robot, comprising:
a plurality of links, connected in series to a base via a plurality of joints;
a plurality of actuators, driving the joints to relatively displace a corresponding pair of the links connected to each other;
a plurality of control devices, distributedly arranged in the base and the links and controlling the actuators;
a communication cable, comprising an optical fiber connecting the control devices to each other and transmitting information; and
a plurality of light amount measurement devices, measuring amount of light of an optical signal transmitted to the control devices via the communication cable, wherein
each of the control devices monitors the amount of light measured by the light amount measurement device corresponding thereto, and determines whether a state of the communication cable corresponding thereto is abnormal based on the amount of light,
when the state of the communication cable is abnormal, only the joints other than the joint through which the communication cable where an abnormality has occurred passes are driven.