Manipulator repeated positioning accuracy measuring device and method based on digital speckle interference

Abstract

The invention discloses a manipulator repeated positioning accuracy measuring device based on digital speckle interference. The manipulator repeated positioning accuracy measuring device based on digital speckle interference comprises a manipulator. The manipulator comprises an arm part of which the tail end is used for mounting a gripper part, and further comprises a nanometer adjusting platformarranged at the tail end of the arm part and a positioning target provided with a diffuse reflection surface, a laser generation unit used for emitting a positioning light beam to the diffuse reflection surface of the positioning target and a positioning camera used for receiving light reflected from the diffuse reflection surface to present a speckle image in the positioning camera and being in circuit connection with the nanometer adjusting platform; the position of the positioning target is fixed relative to the ground; a light emergent element at the tail end of the laser generation unit and the positioning camera are both fixed to the nanometer adjusting platform. The manipulator repeated positioning accuracy measuring device based on digital speckle interference can measure the repeated positioning accuracy of the manipulator very accurately, and the technical level of repeated positioning measurement of the manipulator is improved comprehensively.

Description

technical field [0001] The present application relates to the technical field of manipulator positioning, in particular to a device and method for measuring repeat positioning accuracy of a manipulator based on digital speckle interferometry. Background technique [0002] The repeated positioning accuracy of the manipulator refers to the degree of consistency of the position and attitude (hereinafter referred to as pose) accuracy obtained by repeatedly running the same program code on the manipulator. The premise and foundation, its accuracy directly affects the product quality of the manipulator. [0003] In recent years, with the continuous development of automation technology, various manipulators have gradually become popular in the processing industry, and their mechanical precision, motion control, human-computer interaction and other technologies have reached a relatively high level. In positioning processing (such as: spot welding, assembly, etc.), the precision mea...

AI Technical Summary

Problems solved by technology

[0004] 1. Use three one-dimensional micrometers (or pull-wire encoders) for combined measurement in three mutually perpendicular directions. The measurement setup is complicated, contact measurement, and debugging work are heavy. The measurement accuracy is low and it is inconvenient to read the value. Realize attitude measurement and multi-point measurement

[0005] 2. Using a combination of one-dimensional laser ranging sensors in three directions perpendicular to each other for measurement, the workload of installing and adjusting mirrors or optical paths in different vertical directions and positions is large, and the three sets of measurement data need to be converted according to the relative installation positions For three-dimensional coordinates, attitude measurement and multi-point measurement cannot be directly realized

[0006] 3. Use the method of one-dimensional laser ranging sensor and gyroscope with three directions perpendicular to each other to measure three-dimensional coordinates and attitudes. The disadvantage is that the accuracy of the gyroscope is not high, and the four sets of measurement data need to be converted into three-dimensional coordinates and coordinates according to the relative position of the installation. Attitude, unable to achieve multi-dimensional integrated pose repeated positioning measurement

[0007] 4. Use a 3D laser scanner to measure the spatial shape of the manipulator, and then convert the attitude data, but the equipment has low measurement accuracy, high environmental requirements, large space occupation, and high cost

[0008] The above problems have not been effectively improved for many years

Images