Detection of Abnormal Movement of Industrial Robot Based on Eigenspace Representation of Image Sequence

摘要

In this paper, a monitoring system for industrial robots working in factories is proposed. This system detects different movement from learning and immediately reports to the operator. It has the advantage that there is no need to receive any signal from the robot controller because it only observes with a simple camera such as a CCD camera. For the detection method, Eigenspace Method is used which is excellent in compression of image data and calculation of the correlation among images. Parametric Eigenspace Method is also used to detect abnormalities such as the speed of movement. Some experiments using 2-axis robot show the effectiveness of the proposed method.