Collaborative robot repeated orientation attitude accuracy testing method

Abstract

The invention discloses a method for testing the accuracy of repeated orientation postures of a collaborative robot. Comprising the following steps: 1) setting a tail end load of the collaborative robot, and a posture point location and a test point P1 of reciprocating motion; 2) controlling the tail end of the robot to reciprocate between a set posture and a test point P1; measuring the pose (aj, bj, cj) of the tail end of the collaborative robot reaching the test point P1 each time through distance measuring equipment; and 3) according to the poses detected for several times, calculating the accuracy of the repeated orientation poses relative to the test point location. The test method can more accurately evaluate the precision of the attitude of the collaborative robot, only the attitude error component is introduced in the test, and the position error component is not considered, so that a standardized and operable test method is provided for the field of collaborative robots, and the precision of the attitude of the robot is improved by accurately evaluating the precision of the attitude of the robot. A manufacturer can find and correct the posture deviation problem of the robot in time, and therefore the performance and the quality control level of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robot testing, and particularly relates to a method for testing the accuracy of repeated orientation postures of a collaborative robot. Background Art

[0002] With the wide application of collaborative robots in the industrial and service fields, the requirements for their performance and accuracy are getting higher and higher. The accuracy of repeated orientation postures determines the influence brought about by alternately changing postures only in three directions at a certain point in the working space of the collaborative robot without changing the position. Currently, in the national standard GB / T12642-2013 "Industrial Robot Performance Specifications and Their Test Methods", pose accuracy is usually used to test the pose accuracy of the robot. During the test, both the position and posture of the robot change, and the test results introduce error components of position and posture. However, there is no test method in the national standard for the accuracy of repeated orientation postures that does not introduce position error components but only introduces posture error components. Without such a clear test method, it is impossible to objectively and consistently evaluate the accuracy of repeated orientation postures of collaborative robots, and manufacturers cannot accurately verify whether the posture accuracy of the collaborative robots they design and manufacture meets the expected requirements. Therefore, it is necessary to provide a method for testing the accuracy of repeated orientation postures of a collaborative robot, which can effectively solve the above problems. Summary of the Invention

[0003] Aiming at the deficiencies of the above method, the purpose of the present invention is to provide a method for testing the accuracy of repeated orientation postures of a collaborative robot, which eliminates the position error component and only introduces the posture error component during the test, so as to better evaluate the posture accuracy of the collaborative robot and greatly improve the accuracy of the test results.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] A method for testing the accuracy of repeated orientation postures of a collaborative robot, which performs the following steps to control the robot to reciprocate between a set posture and a test point P1, and detect the accuracy of directional movement, including the following steps:

[0006] 1) Set the end load of the collaborative robot, as well as the posture points and the test point P1 for reciprocating movement;

[0007] 2) Control the end of the robot to reciprocate between the set posture and the test point P1; measure the pose (a j , b j , c j ) of the end of the collaborative robot reaching the test point P1 each time through a ranging device;

[0008] 3) Calculate the accuracy of repeated orientation postures relative to the test point position according to the poses detected multiple times.

[0009] The end of the collaborative robot is equipped with a load or is unloaded according to the set requirements.

[0010] The posture points of the reciprocating motion include: one or several three-dimensional postures, and the set value of each posture angle is not less than 30°.

[0011] For multiple three-dimensional posture points, the collaborative robot end is controlled to sequentially execute each posture to the measurement point, and the reciprocating movement is cyclically executed according to the set number of reciprocations.

[0012] The ranging device is a laser measurement device or a vision measurement device.

[0013] By changing the set ratio of the rated speed, the end of the robot is adjusted to reciprocate between the set posture and the test point P1.

[0014] Calculating the repeated orientation posture accuracy relative to the test point according to the poses detected several times includes: calculating the mean value and absolute difference of the actually reached poses several times to obtain the repeated orientation posture accuracy.

[0015] A collaborative robot repeated orientation posture accuracy test device includes a collaborative robot, a ranging device, and a host computer; the output interface of the end effector of the robot is connected to the host computer for communication to send and receive instructions; the ranging device is connected to the host computer to receive a control signal to measure the actually reached pose when the end of the collaborative robot reaches the specified test point P1; the host computer is provided with a memory, a processor, and a front-end interface. The memory stores a program, and when the processor loads the program, it executes the method steps as described above, controls the robot to reciprocate between the set posture and the test point P1, and detects the accuracy of the directional movement; the front-end interface is used for the user to input test instructions or visually display the test process and result data to the user.

[0016] The present invention has the following beneficial effects and advantages:

[0017] After adopting the method of the present invention, it is possible to more accurately evaluate the accuracy of the collaborative robot in terms of posture, and only introduce the posture error component in the test, without considering the position error component. Thus, a standardized and operable test method is provided for the field of collaborative robots. By accurately evaluating the robot posture accuracy, manufacturers can timely discover and correct the posture deviation problems of the robot, thereby improving the performance and quality control level of the robot. The standardized test method proposed by the present invention improves the consistency and effectiveness of the test, further improves the accuracy and motion performance of the collaborative robot, and solves the problem of the lack of a clear method for testing the repeated orientation posture accuracy in the current field of collaborative robots. Description of the Drawings

[0018] Figure 1This is the flowchart of the method of the present invention;

[0019] Figure 2 This is the schematic diagram of the test device of the present invention;

[0020] Figure 3 This is the implementation flowchart of a method for testing the repeatable orientation attitude accuracy of a collaborative robot according to the present invention;

[0021] In the figure, 1 - collaborative robot; 2 - host computer; 3 - attitude measurement device. Specific implementation manner

[0022] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following further details the specific implementation method of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description to fully understand the present invention, but the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0023] As Figure 1 shown, this is a method for testing the repeatable orientation attitude accuracy of a collaborative robot in this embodiment.

[0024] It includes the following steps:

[0025] 1) Set the end load of the collaborative robot, as well as the reciprocating motion attitude and test point P1;

[0026] 2) Control the end of the robot to reciprocate between the set attitude and test point P1; measure the pose (a j , b j , c j ) of the end of the collaborative robot each time it reaches the test point P1 through a ranging device;

[0027] 3) Calculate the repeatable orientation attitude accuracy relative to the test point position according to the poses detected multiple times.

[0028] As Figure 2As shown in the figure, a collaborative robot repeated orientation attitude accuracy test device of this embodiment includes a collaborative robot, a ranging device, and a host computer; the output interface of the robot end effector is connected to the host computer for communication to send and receive instructions; the ranging device is connected to the host computer to receive a control signal to measure the actual pose when the end of the collaborative robot reaches the specified test point P1; the host computer is provided with a memory, a processor, and a front-end interface. A program is stored in the memory, and when the processor loads the program, it executes the following method steps to control the robot to reciprocate between the set pose and the test point P1 to detect the accuracy of directional movement; the front-end interface is used for users to input test instructions or intuitively display the test process and result data to users.

[0029] As Figure 3 shown, the specific steps of the method of the present invention are as follows:

[0030] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the embodiments. As Figure 1 shown, a method for testing the repeated orientation attitude accuracy of a collaborative robot in this embodiment. First, select a test load. According to the test requirements, select the corresponding test load, and install the test load or no-load at the end effector of the collaborative robot, and fixedly install the collaborative robot in a test site that meets the specification requirements. Secondly, select the test pose points. Three poses a, b, and c with an angle not less than 30° from the test point P1 are respectively selected in the An, Bn, and Cn directions of the collaborative robot base coordinate system. Among them, the three pose angles of a, b, and c are the same as those of P1, but the orientations are different. Among them, P1 is the test point specified in the national standard, and other test points such as P2 and P4 can also be selected. Thirdly, write a test program to make the collaborative robot stay at point P1 and keep its position unchanged during the test. The mechanical interface of the collaborative robot changes to pose a at the rated speed (or 50%, 10% is selected), then changes back to the original pose of P1, then changes to pose b, then changes to the original pose of P1, changes to pose c, and then moves to the original pose of P1, so as to complete one cycle. Again, after each return to the original pose of P1, a pause should be made for a period of time longer than the set pose stabilization time. When reaching the original pose of P1, use a laser measurement device or a vision measurement device to collect the pose information of this point. A total of 30 cycles are performed. After the instrument finishes collecting the data, stop the movement of the robot.

[0031] After collecting the data, start the result calculation. First, calculate the average value of the data set, where a j , b j , c j represents the actual pose angle of the jth time.

[0032]

[0033]

[0034]

[0035] Secondly, calculate the absolute difference. For each measurement value, calculate the absolute difference between it and the average value, and sum up all the absolute differences to obtain the total absolute difference a m , b m , c m .

[0036]

[0037]

[0038]

[0039] Finally, calculate the results of the repeated orientation attitude accuracy test. Divide the total absolute difference by the size n of the data set to obtain the results of the repeated orientation attitude accuracy. Use rAPa, rAPb, and rAPc to represent the results of the repeated orientation attitude accuracy in three attitude directions.

[0040]

[0041]

[0042]

[0043] Finally, it should be noted that the above description is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle described in the present invention, several improvements and refinements can still be made, and these improvements and refinements should be regarded as the protection scope of the present invention.

Claims

1. A method for testing the accuracy of the repeated orientation posture of a collaborative robot, characterized in that, Perform the following steps to control the robot to reciprocate between a set pose and a test point P1, and detect the accuracy of directional movement, including the following steps: 1) Set the payload at the end of the collaborative robot, as well as the pose points and test point P1 for reciprocating movement; 2) Control the robot end to reciprocate between the set posture and the test point P1; use the distance measuring device to measure the posture (a) of the collaborative robot end when it reaches the test point P1 each time. j , b j , c j ); 3) Calculate the repeatable directional pose accuracy relative to the test point based on the poses detected multiple times.

2. The method for testing the performance of a contact electronic skin according to claim 1, characterized in that, The end of the collaborative robot is equipped with a payload or is unloaded according to the set requirements.

3. The method for testing the performance of a contact electronic skin according to claim 1, characterized in that, The pose points for the reciprocating movement include: one or several three-dimensional poses, and the set value of each pose angle is not less than 30°.

4. The method for testing the performance of a contact electronic skin according to claim 3, characterized in that, For multiple three-dimensional pose points, control the end of the collaborative robot to sequentially execute each pose to the measurement point, and perform reciprocating movement in a loop according to the set number of reciprocations.

5. The method for testing the performance of a contact electronic skin according to claim 1, characterized in that, The ranging device is a laser measurement device or a vision measurement device.

6. The method for testing the performance of a contact electronic skin according to claim 1, characterized in that, The reciprocating movement of the robot end between the set pose and the test point P1 is adjusted by changing the set ratio of the rated speed.

7. The method for testing the performance of a contact electronic skin according to claim 1, characterized in that, The calculation of the repeatable directional pose accuracy relative to the test point based on the poses detected multiple times includes: calculating the mean value and absolute difference of the actually reached poses multiple times to obtain the repeatable directional pose accuracy.

8. A device for testing the accuracy of the repeated orientation posture of a collaborative robot, characterized in that, It includes a collaborative robot, a ranging device, and a host computer; the output interface of the end effector of the robot is connected to the host computer for communication to send and receive instructions; the ranging device is connected to the host computer to receive control signals to measure the actually reached pose when the end of the collaborative robot reaches the specified test point P1; the host computer is provided with a memory, a processor, and a front-end interface. The memory stores a program, and when the processor loads the program, it executes the method steps described in any one of claims 1-7 to control the robot to reciprocate between the set pose and the test point P1 and detect the accuracy of directional movement; the front-end interface is used for the user to input test instructions or visually display the test process and result data to the user.

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