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Multi-base station laser tracker collaborative re-location double-arm robot testing method and device

A technology of a laser tracker and a testing method, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of the lack of a multi-base station laser tracker dual-arm robot testing method and device, and the inability to implement a multi-base station laser tracker.

Inactive Publication Date: 2020-11-20
严格集团股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is that the prior art lacks a dual-arm robot testing method and device for multi-base laser tracker cooperative transfer station, and cannot realize the coordinate system integration of multi-base laser tracker.

Method used

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  • Multi-base station laser tracker collaborative re-location double-arm robot testing method and device
  • Multi-base station laser tracker collaborative re-location double-arm robot testing method and device
  • Multi-base station laser tracker collaborative re-location double-arm robot testing method and device

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Embodiment 1

[0068] A dual-arm robot test method for multi-base laser tracker cooperative transfer stations, such as figure 1 As shown, the dual-arm robot includes a first manipulator 1 and a second manipulator 2. Two laser trackers are used to measure the first manipulator 1 and the second manipulator 2. In order to ensure the final measurement of the first manipulator 1 and the second manipulator The coordinate systems of the two manipulators 2 are consistent, and the two coordinate systems are integrated through the method of laser tracker cooperative transfer station, such as figure 2 and image 3 As shown, the method includes:

[0069] Step S1: The laser tracker measures and obtains the spatial coordinates of the target point. The specific process is:

[0070] Measure the distance d from the target point and the deflection angle α in the horizontal direction and the deflection angle β in the vertical direction through the laser tracker, through the formula P (x,y,z) =f(d,α,β) to o...

Embodiment 2

[0091] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a dual-arm robot test device for a multi-base laser tracker cooperative transfer station. The dual-arm robot includes a first manipulator 1 and a second manipulator 2. A laser tracker measures the first manipulator 1 and the second manipulator 2. In order to ensure that the coordinate systems of the first manipulator 1 and the second manipulator 2 in the final measurement are consistent, the two coordinate System 1, the device includes:

[0092] The target point coordinate acquisition module is used for laser tracker measurement to obtain the target point spatial coordinates;

[0093] The expression acquisition module is used to use the spatial coordinates of the target point as the coordinates of the point before the transfer, and obtain the expression of the coordinates of the point after the transfer according to the coordinates of the point before the transfer...

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Abstract

The invention discloses a multi-base station laser tracker collaborative re-location double-arm robot testing method and device. The method comprises the following steps that target point space coordinates are acquired; an expression of after-location point coordinates is obtained according to before-re-location point coordinates; a linear EIV mode is Constructed; a Lagrange extremum condition expression is constructed according to the linear EIV model; and a partial derivative is calculated for all components in the Lagrange extremum condition expression, a current to-be-calculated parametervector is obtained by taking the partial derivative as zero, the current to-be-calculated parameter vector is taken as an initial to-be-calculated parameter vector and returning and executing the stepfour are performed, a final to-be-calculated parameter vector is output until the difference between the current to-be-calculated parameter vector and a to-be-calculated parameter vector obtained inthe last iteration is less than a preset value, and the after-location point coordinates are obtained according to the final to-be-calculated parameter vector. The method has the advantage that coordinate systems of a multi-base station laser tracker are unified by the laser tracker collaborative re-location method.

Description

technical field [0001] The invention relates to the technical field of robot testing, and more specifically relates to a dual-arm robot testing method and device for a multi-base laser tracker cooperative transfer station. Background technique [0002] A dual-arm industrial robot refers to an industrial robot that uses a control system to control two sets of manipulators to jointly complete one or a set of operating tasks. The dual-arm robot imitates the principle of cooperation of human arms, and has the function of separate operation of the arms. It is composed of two single arms of space joint industrial robots. It has the characteristics of high speed and high precision, large working space, long life, modularization and high integration. , suitable for directional space load operations, can adopt implanted structure, especially suitable for plate manufacturing loading and unloading operations. There are many complex assembly tasks and parts handling tasks in the robot ...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1682B25J19/0095
Inventor 陈浣赵昊宁丁亮
Owner 严格集团股份有限公司
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