boeckhoff
commented
4 years ago one good metric to use aswell is the speed of the endeffektor, it should never exceed a constant, if it does motors should be turned off or even break to ensure that we dont damage linkages
it would be good to detect extreme motor usage for example when the end-effector is blocked by a foreign object or a position cannot be reached for whatever reason. Those type of situations should be detected, for example, if a move-to command has not reached its goal within a certain timeframe, there is no reason to assume its ever going to.
it would also be good to give the motors and motor-drivers a chance to cool down by some sort of metric that tracks the buildup of temperature approximately.