Method for analyzing trajectory accuracy of industrial robot based on continuous dynamic time warping

Abstract

The invention discloses a method for analyzing trajectory accuracy of an industrial robot based on continuous dynamic time warping. The method comprises the following steps of searching for optimal matching points in two sequences step by step based on the idea of dynamic planning; defining a cumulative distance matrix D as a similarity measurement value of two trajectory sequences; and conductinginterpolation on the two sequences, enabling a regular path to meet a certain optimization strategy to enable the cumulative distance to be minimum, and searching from back to front through a backtracking method to enable the accumulated distance of the two sequences to be minimum. According to the method, a CDTW algorithm is adopted, and mapping between trajectory points is analyzed, so that theproblems that during non-linear trajectory method plane construction, due to the influences of the movement speed and movement deviation of a robot and the sampling frequency and measurement error ofa measurement system, mapping errors occur between an instruction trajectory and actual trajectory points, and large trajectory measurement errors are caused are solved. By measuring and analyzing the trajectory accuracy of the industrial robot, the problem of mapping errors in a standard method can be effectively avoided, and the trajectory accuracy is improved.

Description

technical field [0001] The invention relates to the field of performance testing of industrial robots, in particular to a method for measuring and evaluating trajectory accuracy. Background technique [0002] Industrial robots are one of the key equipment for intelligent manufacturing. With the increasing application of industrial robots in high-precision fields such as precision manufacturing, aerospace, and precision measurement, the requirements for the motion performance of robots are also getting higher and higher. Robot trajectory accuracy is one of the most critical indicators to measure robot performance, so the measurement and evaluation of robot trajectory accuracy is particularly important. [0003] At present, the trajectory performance test of the robot mainly refers to the international standard ISO9283: "manipulating industrial robots - performance standards and related test methods", the national standard GB / T 12642-2003 "industrial robot performance specific...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the current robot trajectory accuracy testing method, the present invention provides an industrial robot trajectory accuracy analysis method based on continuous dynamic time warping algorithm (CDTW), which solves the problem of complex trajectory in the existing standard method Mapping errors, effectively avoiding the time series interleaving of theoretical trajectories and actual trajectories, and improving the accuracy of trajectory accuracy evaluation

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