Robot program verification method, device, electronic device and storage medium
A verification method and robot technology, applied in the fields of instruments, electrical digital data processing, error detection/correction, etc., can solve problems such as difficulty in verification of robots
Active Publication Date: 2021-12-14
JIHUA LAB
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[0004] The purpose of this application is to provide a verification method, device, electronic equipment and storage medium of a robot program, aiming to solve the problem in the prior art that it is difficult for robots to verify the correctness of AS programs through effective simulation methods
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[0091] As a preferred embodiment, step A5 includes:
[0092] Load the track point data record table of the preset motion track;
[0093] The pose data of the preset track points of the robot model are extracted from the track point data recording table.
[0094] In this embodiment, the pose data of preset track points are pre-recorded to form a track point data record table of a preset motion track, and the pose data of pre-recorded preset track points are directly extracted from the track point data record table, and compared with Compared with the method of extracting the pose data of the preset trajectory points of the robot model in the AS program or the converted python program, the pose data of the preset trajectory points can be obtained more quickly and conveniently.
[0095] Preferably, step A6 includes:
[0096] According to the pose data of the actual track point and the pose data of the preset track point, determine the coincidence between each actual track point...
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This application belongs to the technical field of robot control, and discloses a verification method, device, electronic equipment and storage medium of a robot program, by loading the AS program to be verified; converting the AS program into a python program; loading the robot model on the python simulation platform , the operating platform model and the python program; run the python program on the python simulation platform to obtain the pose data of the actual trajectory point of the robot model moving in the operating platform model; obtain the pose data of the preset trajectory point of the robot model; according to the actual The pose data of the trajectory point and the pose data of the preset trajectory point are used to judge the consistency of the actual trajectory and the preset trajectory; according to the result of the consistency judgment, it is determined whether the AS program is correct or incorrect; thereby realizing the The simulation verification of the correctness of the AS program avoids damage to the robot by directly using the robot for verification.
Description
technical field [0001] The present application relates to the technical field of robot control, and in particular, relates to a verification method, device, electronic equipment and storage medium of a robot program. Background technique [0002] The control programs of some existing robots are written in AS language. If you want to verify whether the written AS program is correct, generally you can only run the AS program directly on the real robot to judge whether the movement process of the robot is in line with the expected programmed flow. Consistent, and then judge the correctness of the AS program. However, if the AS program is written incorrectly, it is easy to cause damage to the robot. For other types of industrial robots, it is common practice to use python language to write control programs, so that when performing control program verification, the simulation platform provided by the python software can be directly used for simulation verification, thereby avoid...
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IPC IPC(8): G06F11/36
CPCG06F11/3612
Inventor 林培文李季兰
Owner JIHUA LAB