Physical simulation test method, device and system

A physical simulation and testing method technology, applied in the field of data simulation, can solve problems such as poor scalability, complicated test operation process, and complicated test operation

Active Publication Date: 2018-04-10
重庆鲁班机器人技术研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the physical simulation test platform that appears in the scientific research field or the market can only test one function of the controller when testing the robot. When it is necessary to test other functions of the controller, it is necessary to replace the hardware or software. The redevelopment of the test operation process is complicated
[0005] Therefore, the existing physical simulation test platform has a single test function, poor scalability, and complicated test operations, which has caused a lot of inconvenience to users.

Method used

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  • Physical simulation test method, device and system

Examples

Experimental program
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Embodiment 1

[0060] The physical simulation test method provided by the embodiment of the present invention can be applied to the field of testing various functions of controllers of robots, locomotives, and aviation equipment, but not limited to. figure 1 A schematic flow chart of an object simulation testing method provided by an embodiment of the present invention is shown. In the following, the above method is applied to the testing field of the robot controller, and the method is loaded on the host computer in the form of program software as an example for illustration. The physical simulation test method includes:

[0061] Step S101, receiving a test item selected by a user, and the test item is associated with a test item identifier.

[0062] Specifically, the user can select the test items displayed on the human-computer interaction interface through the host computer through input devices such as a touch screen, a keyboard, or a mouse. Further, the test item corresponding to the ...

Embodiment 2

[0102] Corresponding to the physical simulation test method in embodiment one, image 3 A schematic structural diagram of a physical simulation testing device provided by an embodiment of the present invention is shown. like image 3 As shown, the physical simulation test device includes:

[0103] Selection receiving module 11 is used to receive the test item selected by the user, and the test item is associated with a test item identification;

[0104] The instruction sending module 12 is used to call the test program in the test kit corresponding to the test item identification, generate and send the test instruction to the corresponding controller, so that the controller sends the execution instruction to the servo driver;

[0105] Parameter retrieval module 13, is used for according to test item identification, retrieves from server the motion parameter that each sensor corresponding to the robot driven by this servo drive sends;

[0106] The result acquisition module 1...

Embodiment 3

[0109] Corresponding to the method of embodiment 1, Figure 4 A schematic structural diagram of an object simulation test system provided by an embodiment of the present invention is shown. like Figure 4 As shown, the physical simulation test system includes a host computer 310 , a server 320 , a controller 330 , a servo driver 340 and a robot 350 .

[0110] Specifically, the upper computer includes the device in the second embodiment, and the upper computer is connected with the controller. The above-mentioned robot is a calibrated calibration robot, which can reduce the impact of errors on the performance of the controller after calibration, thereby reducing the deviation in the test results.

[0111] The above-mentioned controller is connected with the servo driver, and is used to receive the test instruction sent by the host computer, and generate and send the execution instruction to the servo driver according to the currently stored test parameters. For example, when...

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Abstract

The invention provides a physical simulation test method, device and system and relates to the technical field of data simulation. The physical simulation test method comprises the following steps: receiving a test item selected by a user, wherein the test item is associated with test item identification; calling a test program in a test toolkit corresponding to the test item identification, and generating and sending a test instruction to a corresponding controller to enable the controller to send an execution instruction to a servo driver; calling motion parameters sent by each sensor corresponding to a robot driven by the servo driver from the server according to the test item identification; and calling an evaluation program in the test toolkit corresponding to the test item identification and carrying out analysis and calculation on the motion parameters to obtain a test result. According to the technical scheme, the physical simulation test method, device and system can carry outtest of a plurality of functions on the same physical simulation test platform, and are high in expandability, simple in test operation and convenient to use.

Description

technical field [0001] The invention relates to the technical field of data simulation, in particular to a physical simulation test method, device and system. Background technique [0002] The test of the robot controller mainly includes the test of the controller core software (common black box and white box tests such as function, performance, code quality, etc.) and the test of the external interface (EtherCAT, RS232, GPIO, etc.). The robot controller is tested under real working conditions, and it is necessary to test its various functions and performance indicators in actual operation. [0003] Most of the industrial robot control systems are closed-loop control systems. Ideally, the test of the robot controller requires the access of the servo system, the robot body, and the sensing device, so that the static control accuracy and dynamic control effect of the controller can be evaluated. Evaluate the controller. The controller can be connected to the real robot, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02G06F17/50
CPCG05B23/0256G06F30/367
Inventor 何国田汤登峰王芬梅峻峰邱俊秦朗王松王贤福赵飞亚
Owner 重庆鲁班机器人技术研究院有限公司
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