Abstract: This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of the motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; and c) controlling (1006) the motor with the generated supply voltages. During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.

Abstract: This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of said motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; c) controlling (1006) said motor with the generated supply voltages. During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.