Robot testing system and method based on semi-physical simulation technology

Abstract

The invention discloses a robot test system based on a semi-physical simulation technology. The robot test system comprises a teaching box; a robot control system which is used for executing corresponding actions according to the control instruction; a real-time simulation system which is used for collecting test data including real-time position data, attitude data and speed data of the robot control system; a main control system, wherein the main control system establishes communication with the real-time simulation system. A target motion model corresponding to the execution action of the robot control system is preset in the main control system, and the main control system is used for receiving the test data acquired by the real-time simulation system, generating a current motion modelaccording to the test data and displaying the target motion model and the current motion model for comparison and evaluation by a user. The dynamic characteristics, the static characteristics and thenonlinear factors of the robot control system can be truly reflected, then the design of the robot control system is improved and corrected, and a user can adjust control parameters in time so as tomeet system performance indexes.

Description

technical field [0001] The invention relates to the technical field of robot testing, in particular to a robot testing system and method based on semi-physical simulation technology. Background technique [0002] In the prior art, the robot control system is a closed-loop system composed of a robot controller and a servo driver to control the robot, including the setting of the actuator, the feedback from the actuator, and the entire servo system. Three closed-loop systems of position loop, speed loop and current loop are implemented in the system to achieve precise control of the robot. [0003] The existing test method can calibrate the pose of the robot through the laser tracker, and compare the feedback information of the end pose of the robot with the given control system to obtain the error value. This test method lacks the test of each joint Error analysis, and it is impossible to truly reflect the dynamic characteristics, static characteristics and nonlinear factors...

AI Technical Summary

Problems solved by technology

[0003] The existing test method can calibrate the pose of the robot through the laser tracker, and compare the feedback information of the end pose of the robot with the given control system to obtain the error value. This test method lacks the test of each joint Error analysis, and cannot truly reflect the dynamic characteristics, static characteristics and nonlinear factors of the control system, it is difficult to test and operate, and it is impossible to form an analysis for a specific part

However, mathematical simulation methods cannot simulate the real environment, and the test conclusions can only be theoretical values, lack of practical basis, cannot be used as evaluation standards, and cannot meet the requirements of simulation tests.

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