Measuring method of repetitive positioning accuracy of industrial robots

Abstract

The invention relates to a method for measuring the repetitive positioning accuracy of an industrial robot, which includes the following steps. Step 1: Fix an image sensor on the end of a mechanical arm, and follow the mechanical arm, define a three-dimensional airspace coordinate system in advance, and set the three-dimensional airspace coordinate system in the pre-defined three-dimensional airspace coordinate system. The registration plate is installed at each facing position point in the system; in step 2, the robotic arm reciprocates between two or more points in the pre-defined three-dimensional airspace coordinate system, and each time the robotic arm reaches the facing position point , the image sensor shoots the pre-placed registration disk, and transmits the generated image information to the image processing system; step 3, the image processing system performs feature extraction operations on the image information collected at each position point, and compares it with the first position point of the image information. An image is registered based on the scale-invariant feature, so as to obtain the repeated positioning point cloud of the robotic arm; in step 4, the repeated positioning accuracy of the robotic arm is obtained by transforming the spatial coordinates of the point cloud.

Description

technical field [0001] The invention relates to a method for measuring the repeated 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 solution and algorithm for measuring the repetitive positioning accuracy of an industrial robot. The method avoids the mechanical contact between the measuring device and the robot, and can be used to achieve high-precision calibration and measurement of the robot's 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 slowly applied in industrial production, and various robots are the main equipment to replace manual workpiece transportation and processing. During the ...

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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