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Optimized robot performance testing method and device

A technology of robotics and performance, applied in electrical testing/monitoring, testing/monitoring control systems, instruments, etc., to solve the problems of high requirements, low efficiency, and complicated operations for testers

Active Publication Date: 2020-03-27
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide an optimized robot performance testing method and device to alleviate the technical problems of the existing robot performance testing method, which are complex in operation, high in requirements for testers, and low in efficiency.

Method used

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  • Optimized robot performance testing method and device

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Experimental program
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Embodiment 1

[0067] An optimized robot performance test method is applied to the test system software, and the test system software is set on the terminal device. Refer to figure 1 , the method includes:

[0068] S102. Determine the target trajectory according to the configuration information of the robot to be tested, wherein the target trajectory includes: calibration trajectory, test trajectory, the number of test trajectory is multiple, and each test trajectory corresponds to a performance test item;

[0069] In the embodiment of the present invention, the execution subject of the optimized robot performance testing method is the test system software, and the test system software is installed on the terminal device. Specifically, the terminal device may be a computer.

[0070] The test system software in the present invention can determine the target trajectory according to the configuration information of the robot to be tested, without user-defined trajectory. The specific content w...

Embodiment 2

[0140] An optimized robot performance testing device, the device is set on the terminal equipment, refer to Figure 7 , the device consists of:

[0141] Determination module 11 is used to determine the target trajectory according to the configuration information of the robot to be tested, wherein the target trajectory includes: calibration trajectory, test trajectory, the number of test trajectory is multiple, and each test trajectory corresponds to a performance test item;

[0142] The coordinate system calibration module 12 is used to calibrate the coordinate system based on the calibration trajectory to obtain the mapping relationship between the laser tracker coordinate system and the robot coordinate system to be measured;

[0143] The test module 13 is used to test according to the performance test item and the corresponding test track selected by the user to obtain test data, wherein the performance test item includes at least one of the following: point test, track tes...

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Abstract

The invention provides an optimized robot performance test method and an optimized robot performance test device. The method comprises the following steps of determining a target track according to the configuration information of a to-be-tested robot; carrying out coordinate system calibration on the basis of a calibration track, and obtaining the mapping relation between the coordinate system ofa laser tracker and the coordinate system of the to-be-tested robot; carrying out test according to performance test items selected by a user and corresponding test tracks, and obtaining test data; according to the mapping relationship, the test data and performance test items corresponding to the test data, calculating the performance test results of the performance test items. Based on the method, a calibration track and a test track are provided for the user, so that the user-defined setting operation is not needed. The test result can be automatically calculated, and the to-be-tested robot and the laser tracker can be controlled at the same time through the test system software. The operation is simple, and the technical requirements for the user are reduced. The testing efficiency isimproved. The technical problems that an existing robot performance testing method is complex in operation, high in requirement for the testing personnel and low in efficiency are solved.

Description

technical field [0001] The invention relates to the technical field of robot performance testing, in particular to an optimized robot performance testing method and device. Background technique [0002] The robot is the core equipment of modern production. According to the relevant regulations, the robot needs to be calibrated and performance tested before leaving the factory or after a long period of use to ensure that the accuracy and performance of the robot meet the requirements. In the current common method of using a laser tracker to calibrate and test the robot, each test cycle needs to manually point the laser tracker to the target ball. After the light is successfully tracked, run the robot and start measurement. [0003] Existing methods generally need to manually set the test pose, manually save the original data, customize the test trajectory, manually calculate the test results, and repeatedly switch between the robot system and the laser tracker system. The ope...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B23/02
CPCG05B23/0213G05B2219/24065
Inventor 杨跞谭龙山周飞
Owner SIASUN CO LTD