Mechanical arm motion control delay measuring system based on visual inspection and method thereof

Abstract

The invention discloses a mechanical arm motion control delay measuring system based on visual inspection and a method thereof, the mechanical arm motion control delay measuring system comprises an upper computer, a real-time device, an image collecting device and an LED lamp, the upper computer is connected with the real-time device and the image collecting device, and the real-time device is connected with the LED lamp and a control interface of a mechanical arm; the upper computer is used for interacting with a user, issuing a user command to the real-time device, and calculating the motion control delay of the mechanical arm through image data acquired by the image collecting device; the real-time device is used for receiving a mechanical arm motion control instruction sent by the upper computer and synchronously sending the mechanical arm motion control instruction and an LED lamp lightening instruction in real time; and the image collecting device is used for collecting the posture of the mechanical arm and a state image of the LED lamp. The invention further discloses the mechanical arm motion control delay measuring method based on visual inspection. The mechanical arm motion control delay measuring system based on visual inspection and the method thereof can improve the accuracy of a measurement result, and the measurement process does not interfere with normal operation of equipment.

Description

technical field [0001] The invention relates to the field of industrial manipulator testing, in particular to a vision detection-based manipulator motion control delay measurement system and a method thereof. Background technique [0002] As the scale of industrial production continues to expand, collaboration between industrial equipment becomes more frequent. Multi-axis industrial robots are widely used as important equipment. For an industrial system, especially in high-precision multi-machine collaborative applications, device control delay is crucial to the stable operation of the system. Usually, the upper computer sends execution commands to the robot body processor through the network / serial port and other buses, and the robot body processor receives the command content, analyzes and processes it, and drives the motor to work and execute actions. The time distribution of each stage is as follows figure 1 As shown, the bus transmission delay t1' (millisecond level)...

AI Technical Summary

Problems solved by technology

[0004] The above test scheme is simple and easy to implement, but the bus transmission delay is only measured indirectly, without considering the differences between robot entities, the measurement results have large errors, and in this scheme, the robot needs to switch to the test mode instead of the normal working mode. will further distort and interfere with the normal operation of the robot

Images