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System for collision a voidance of rotary atomizer

  • US 20060129348A1
  • Filed: 02/09/2006
  • Published: 06/15/2006
  • Est. Priority Date: 09/30/2002
  • Status: Active Grant
First Claim
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1. Monitoring method for a drive system of a robot, more specifically a painting robot, with a motor and a moving part driven by the motor, with the following steps:

  • measurement of at least one drive-side motion quantity (φ

    A1, ω

    A1) of the motor, measurement of at least one driven-side motion quantity (xM1, aM1) of the moving part, determination of an error signal (FSTÖ

    R
    ) as a function of the motion quantities (φ

    A1, ω

    A1) of the motor measured on the drive side and of the motion quantities (xM1, aM1 ) of the moving part measured on the driven side.

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