Robot attitude measurement method and robot attitude measurement system

A measurement method and robot technology, applied in the field of robotics, can solve the problems of complex robot attitude measurement, low efficiency, and lower accuracy than target ball testing, and achieve the effect of simplifying robot attitude measurement equipment and measurement methods

Inactive Publication Date: 2021-09-03
PEITIAN ROBOTICS CO LTD
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  • Abstract
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Problems solved by technology

And most tracker manufacturers do not have 6D measurement equipment, such as Faro and API, only Leica has 6D measurement function,
[0003] Therefore, for the attitude accuracy and attitude repeatability of the robot, it is necessary to use a large amount of money to purchase 6D measuring equipment for measurement, which undoubtedly leads to a substantial increase in production costs; and the attitude accuracy of Leica's 6D measuring equipment is not as good as that of the target ball test. , while the existing target ball test usually uses multiple target balls, the attitude measurement of the robot is more complicated and the efficiency is low

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  • Robot attitude measurement method and robot attitude measurement system

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Embodiment Construction

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0015] The terms "first" and "second" in this application are only used for descriptive purposes, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cov...

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Abstract

The invention discloses a robot attitude measurement method and a robot attitude measurement system. The robot attitude measurement method comprises the following steps: setting measurement equipment and a robot in the same coordinate system; acquiring position information of a reference surface of the robot by using measuring equipment, wherein the reference surface is parallel to a plane where a flange of the robot is located; obtaining attitude information of the robot according to the position information; and calculating the attitude information and the reference attitude information to obtain attitude accuracy and attitude repeatability of the robot. Through the mode, the robot attitude measurement equipment and the measurement method can be simplified, the cost is saved, and the accuracy of robot attitude measurement can be improved.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a robot attitude measurement method and a robot attitude measurement system. Background technique [0002] According to GB12642, in the performance measurement of the robot, the pose accuracy and pose repeatability of the robot are important indicators in the robot performance index. Usually, what the tracker tests out is position information. If you need to obtain attitude information, you need to purchase additional 6D measuring equipment, which is expensive. Through market research: the price of the tracker equipment including 6D measurement is about 200w yuan, and the tracker without 6D measurement is about 100w yuan. And most tracker manufacturers do not have 6D measurement equipment, such as Faro and API, only Leica has 6D measurement function, [0003] Therefore, for the attitude accuracy and attitude repeatability of the robot, it is necessary to use a large am...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 刘子雨
Owner PEITIAN ROBOTICS CO LTD
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