A method and device for collecting experimental data of an industrial robot

Abstract

The invention provides a method for collecting experimental data of an industrial robot, comprising the following steps: the first step is to obtain the slow sensing data variable and the data and algorithm data of the bus sensor device set; the second step is to assign all the sampled data Give the sampling data item structure object variable; the third step is to write the sampling data item structure object variable into the sampling data container pointed to by writing the record FIFO pointer; the fourth step is to realize the algorithm data and period corresponding to the experimental test process Acquisition records of raw data of each sensor. The invention also provides a collection device for industrial robot experiment data. The present invention periodically collects and records the algorithm data and the raw data of each sensor corresponding to the period in the experimental test process in a periodic, effective and complete manner, which helps technicians conduct targeted data analysis and reduce the dependence on each sensor data collection and analysis software. Experimental testing costs, and can effectively improve the efficiency of the experimental testing process.

Description

technical field [0001] The method relates to the technical field of industrial robot experiment testing, and more specifically, relates to a method for collecting experimental data of an industrial robot and a collection device thereof. Background technique [0002] At present, with the continuous in-depth development of robot kinematics and dynamics control algorithm technology, the overall control accuracy and performance of industrial robots of major domestic manufacturers have been significantly improved. Of course, the complexity of algorithm design is also increasing, and it needs to undergo repeated design verification and correction, and then the process of perfect design. The core indicators of the performance evaluation of the industrial robot control system mainly involve: repeated positioning accuracy, trajectory positioning accuracy, operating efficiency, vibration, etc. In order to evaluate these performance indicators, an experimental verification platform bas...

AI Technical Summary

Problems solved by technology

Some sensors and their supporting data analysis software need to be reset before each experiment, resulting in low efficiency of experimental testing

In addition, the price of data analysis software supporting some sensor equipment is relatively high, which indirectly increases the cost of experimental testing

[0004] Since the cycle of the kinematics and dynamics algorithms in the robot control system is at the millisecond level, and the raw sensor data collected by the sensor equipment data software is somewhat optimized, it is difficult to quickly locate the problem points of the algorithm only through the results of the software. Increased the difficulty of identification and analysis by technicians

Images