A Trajectory Accuracy Analysis Method for Industrial Robots Based on Continuous Dynamic Time Warping

Abstract

The invention discloses a method for analyzing the trajectory accuracy of an industrial robot based on continuous dynamic time warping. Based on the idea of ​​dynamic programming, the optimal matching point in two sequences is searched step by step. Define the cumulative distance matrix D as the similarity measure of two trajectory sequences. The two sequences are interpolated, and the regularization path satisfies a certain optimal strategy to minimize the cumulative distance, and the backtracking method is used to search from the back to the front to minimize the cumulative distance of the two sequences. The invention adopts the CDTW algorithm and analyzes the mapping between track points to solve the problem that the command track and the actual track are affected by the motion speed and motion deviation of the robot, the sampling frequency of the measurement system, and the measurement error when the plane is constructed by the non-linear track method. Mapping errors occur between points, resulting in large trajectory measurement errors. By measuring and analyzing the trajectory accuracy of industrial robots, the problem of mapping errors in the standard method can be effectively avoided and the trajectory accuracy can be 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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