Double-arm robot performance measuring method based on multiple laser trackers
A technology of laser tracker and measurement method, which is applied to manipulators, manufacturing tools, etc., can solve the problems of long time consumption, substandard measurement accuracy, and inability to achieve simultaneous measurement of two arms, and achieves the effect of simple test process and high measurement accuracy.
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[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0047] like figure 1 , figure 2 , Figure 4 The embodiment shown is a method for measuring the performance of a dual-arm robot based on a multi-laser tracker, comprising the following steps:
[0048] (1-1) Establish the tool coordinate system of the dual-arm robot;
[0049] The dual-arm robot includes a first robotic arm 1 , a second robotic arm 2 and a processor 3 mounted on the base 9 . Both the first robotic arm and the second robotic arm include 6 joints, and the 6 joints are ordered from bottom to top as follows Joints 1 to 6 also include a teach pendant 4, two laser trackers 5, a host computer 6 and a controller 7; the processor is electrically connected to the teach pendant, the first robotic arm and the second robotic arm, respectively, The controller is electrically connected with the teach pendant, the host computer and the two las...
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