{
  "abstract": "The invention relates to a robot system for detection of an operation anomaly. The robot system comprises: an industrial robot; a robot controller configured to control operation of said industrial robot; a robot operation program which is executable by said robot controller to operate said industrial robot according to a robot operation cycle; respective program nodes integrated in said robot operation program, wherein each of said respective program nodes is associated with a separate operational element of said robot operation cycle; wherein said robot controller is configured to obtain reference data based on operation parameters associated with execution of said robot operation program; and an anomaly detection block which for at least one of said respective program nodes is configured to evaluate an operation anomaly of said robot operation parameters relative to a representation of said reference data.",
  "assignees": [
    "UNIVERSAL ROBOTS AS"
  ],
  "authors": [
    "ANCKER EMIL VINCENT",
    "FUGL ANDREAS RUNE",
    "GRAABÆK SØREN GODDIKSEN"
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  "title": "Robot system for anomaly detection",
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