Load centroid range test method, test equipment and computer storage medium

Abstract

The invention discloses a load centroid range testing method, testing equipment and a computer storage medium, the load centroid range testing method is applied to a robot or a mechanical arm, and the robot and the mechanical arm each comprise a target joint and a tail end. The load centroid range testing method comprises the following steps: receiving input of the mass and centroid position of a load acting on a tail end; calculating rotation parameters of the target joint according to the mass and the mass center position of the load; judging whether the rotation parameter is equal to a preset rotation parameter minimum value or not; if yes, the mass center position is recorded as the critical position of the load mass center range. According to the load mass center range testing method, the critical positions of the mass center ranges of different mass loads at the tail end of the robot or the mechanical arm can be measured, and therefore the mass center ranges of the different mass loads at the tail end of the robot or the mechanical arm can be obtained.

Description

technical field [0001] The invention relates to the field of robotics technology, in particular to a method for testing the range of the center of mass of a load, a testing device and a computer storage medium. Background technique [0002] In recent years, the rapid development of industrial robot technology has removed the obstacles of human-robot collaboration. Due to its extremely high flexibility, precision and stability, it can meet the requirements of tight assembly, product packaging, grinding, testing, machine tool loading and unloading. It has been widely used in various fields (such as automobiles, 3C electronics, medical machinery, food processing, etc.). [0003] However, with the continuous increase of the application forms of industrial robots, the safety of their use has also received great attention. Among them, the load weight at the end of the robot is limited by the maximum load allowed by the robot as a whole. Under a certain load, the range of the cent...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to propose a test method for the range of the center of mass of the load, aiming at solving the technical problem that the range of the center of mass of different mass loads at the end of the robot cannot be known

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