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EtherCAT-based six-axis robot control system test equipment and method thereof

A six-axis robot and control system technology, applied in the field of robotics, can solve problems such as difficulties in testing and operation, lack of robot test error analysis, inability to control system dynamic characteristics, static characteristics and nonlinear factors, and achieve improved performance. Effect

Pending Publication Date: 2022-06-14
山东新松工业软件研究院股份有限公司
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AI Technical Summary

Problems solved by technology

[0004] Existing test methods can calibrate the robot’s terminal pose through the laser tracker, and can perform error analysis by comparing the given robot control system with the output of the robot’s terminal pose; The test error analysis of each joint cannot truly reflect the dynamic characteristics, static characteristics and nonlinear factors of the control system. It is difficult to test and operate, and it is impossible to form an analysis of specific parts.

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  • EtherCAT-based six-axis robot control system test equipment and method thereof
  • EtherCAT-based six-axis robot control system test equipment and method thereof

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Embodiment Construction

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0024] The invention provides an EtherCAT-based six-axis robot control system testing device, which is used to collect control information of the robot control system to test and evaluate the performance of the robot control system. The robot control system is used to drive each axis of the six-axis robot to move. .

[0025] like figure 1 As shown, the present invention provides an EtherCAT-based six-axis robot control system test equipment including:

[0026] The robot test system is used to collect data on the control information of the robot control system, analyze the collected data ...

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Abstract

The invention relates to the technical field of robots, in particular to a six-axis robot control system test device based on EtherCAT and a method thereof. The robot testing system comprises a robot testing system, the robot testing system is electrically connected with a robot control system through an EtherCAT bus, and the robot control system controls joint motors of all axes of the six-axis robot to execute commands for work operation; data acquisition is performed on control information of the robot control system, error analysis can be performed on the motion state of each joint of the six-axis robot according to the acquired data, and error reasons can be analyzed, so that the performance of the robot control system is evaluated, and the robot control system is improved; meanwhile, a three-dimensional simulation model is constructed, dynamic characteristics, static characteristics and nonlinear factors of the six-axis robot are truly reflected, and the motion control performance state and track of the robot are visually monitored in real time through a visual simulation interface.

Description

technical field [0001] The invention relates to the field of robot technology, in particular to an EtherCAT-based six-axis robot control system testing device and a method thereof. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. With the development of science and technology, industrial robots are more and more widely used in factories due to their advantages of programmability, anthropomorphism, versatility, etc. Therefore, improving the quality of robots has become a prominent problem, and hidden problems and problems in equipment can be found through testing. Design defects are an important means to improve the reliability and quality of robots. At present, the method of industrial robot testing mainly adopts the method of manual experiment, which ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1602B25J19/0095
Inventor 邹风山李秋新梁亮韩志平李嘉巍唐忠华
Owner 山东新松工业软件研究院股份有限公司
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