Repeated positioning precision measuring method for industrial robot

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.

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...

AI Technical Summary

Problems solved by technology

However, the device uses a laser sensor and a large number of position adjustment devices, and its own procurement cost is high, position adjustment is complicated, and reliability is difficult to guarantee

Patent No. 201510098569 provides a test system for measuring the repetitive positioning accuracy of industrial robots. Using laser sensors, the measurement accuracy is improved, the transmission rate is high, the communication method is flexible, and it is not limited to the measurement of a single station, and can be used in multiple jobs. The measurement of the repeated positioning accuracy of a robot, but the position of the sensor itself is not fixed, it is difficult for workers to operate in the factory application process, and it is difficult to realize the orthogonal method

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