Absolute precision detection method and device of robot and robot

Abstract

The invention provides an absolute precision detection method and device of a robot and the robot. The absolute precision detection method comprises the steps that the size numerical value of a first part assembled on the robot is acquired; establishing a coordinate system by taking the tail end of the first part as an original point according to the size value; controlling the tail end of the first part to be connected with the tail end of a second part; and controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result. Detection is carried out by arranging the first part and the second part, assembly is simple and fast, special performance testing equipment does not need to be configured, cost is low, the testing method is simple to operate and easy to apply, absolute precision of the industrial robot can be effectively verified, only the robot needs to be controlled to rotate along a coordinate axis, precision testing time is greatly shortened, and testing efficiency is improved. And the detection time is short, the detection efficiency is improved, and the method is suitable for precision detection of factory large-scale production.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot absolute precision detection method, device, robot and storage medium. Background technique [0002] In the field of robotics, the absolute accuracy is a set of compensation values ​​measured by professional equipment, and the robot is compensated to improve the path accuracy of the robot. Generally, the kinematic control algorithm of the robot will specify the rod length of the robot, such as figure 1 In L2 and L4, the reduction ratio of each joint, but due to manufacturing and assembly errors, there is always a certain deviation between the actual rod length, reduction ratio and other control parameters and the actual, which will affect the absolute accuracy of the robot. [0003] At present, the absolute accuracy test for the robot is mainly carried out through the laser tracker and the supporting test software. The laser tracker equipment is expensive, the equipment co...

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Problems solved by technology

[0002] In the field of robotics, the absolute accuracy is a set of compensation values ​​measured by professional equipment, and the robot is compensated to improve the path accuracy of the robot. Generally, the kinematic control algorithm of the robot will specify the rod length of the robot, such as figure 1 In L2 and L4, the reduction ratio of each joint, but due to manufacturing and assembly errors, there is always a certain deviation between the actual control parameters such as rod length and reduction ratio, which will affect the absolute accuracy of the robot.

[0003] At present, the absolute accuracy test for robots is mainly carried out through laser trackers and supporting test software. The laser tracker equipment is expensive, the equipment cost is high, and it usually takes about 2-3 hours. The detection time takes a long time and is not applicable. Inspection of mass production in factories

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