Resumen
A method comprising: processing a simulated movement of a robot in at least one processing operation to determine deviations of the robot due to a dynamic response of the robot and external stresses on the robot; estimating an overall working precision on a robot end-effector, at each of one or more path coordinates of the end-effector, taking into account effects of the robot dynamic response and process response of at least one processing operation; performing a predictive calculation of torques in robot joints under robot idle and working conditions, according to a predetermined process force model and/or with information from a process force and torque profile, resulting in predictive torque profiles; performing a calculation of a ratio between robot deviations and at least one deviation of a measured torque from a nominal torque at each joint of the robot; monitoring the measured torques at the joints of the robot, preferably in real time, based on the predictive torque profiles; and generating an alarm action and/or a corrective action based on the monitoring of the measured torques.