Repeated positioning precision measuring method for industrial robot

A repeatable positioning accuracy, industrial robot technology, used in measuring devices, instruments, optical devices, etc., can solve the problems of the sensor itself being not fixed, the reliability is difficult to be guaranteed, and the orthogonal method is difficult to achieve, and it is easy to save records. , The measurement method is simple and effective, and the effect of improving the repeated positioning accuracy
CN110146017AActive Publication Date: 2019-08-20QINGDAO UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
QINGDAO UNIV OF SCI & TECH
Publication Date
2019-08-20

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Abstract

The invention relates to a repeated positioning precision measuring method for an industrial robot. The method comprises the following steps that: step 1, an image sensor is fixed at the tail end of amechanical arm, and moves along with the mechanical arm, a three-dimensional airspace coordinate system is defined in advance, and a registration disc is installed at each alignment position in the pre-defined three-dimensional airspace coordinate system; step 2, the mechanical arm performs reciprocating motion between two or more points in the pre-defined three-dimensional space-space coordinatesystem, and after the mechanical arm reaches the alignment position points each time, the image sensor shoots the pre-placed registration discs and transmits generated image information to an image processing system; step 3, the image processing system performs feature extraction operation on the image information acquired from each position point and performs scale-invariant feature-based imageregistration with the first image of the position point so as to obtain the repeated positioning point cloud of the mechanical arm; and step 4, the repeated positioning precision of the mechanical armis obtained through the spatial coordinate transformation of the point cloud.
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Description

technical field

[0001] The invention relates to a method for measuring repeat positioning accuracy of an industrial robot. The invention belongs to the technical field of industrial automation control, and in particular relates to a computer vision-based scheme and algorithm for measuring repeat positioning accuracy of industrial robots. This method avoids the mechanical contact between the measuring device and the robot, and can be used to realize high-precision calibration and measurement of robot positioning parameters. Background technique

[0002] Repeated positioning accuracy is an important technical parameter of industrial robots, and it is also one of the important parameters about the accuracy of robots.

[0003] With the rapid development of mechanical automation, mechanical automation is gradually applied in industrial production. Various robots are the main equipment to replace manual work pieces for transportation and processing. During the movement of the ro...

Claims

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