CN111912336A - Single-axis repeated positioning precision measuring method and device and electronic equipment - Google Patents
Single-axis repeated positioning precision measuring method and device and electronic equipment Download PDFInfo
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- CN111912336A CN111912336A CN202010676511.0A CN202010676511A CN111912336A CN 111912336 A CN111912336 A CN 111912336A CN 202010676511 A CN202010676511 A CN 202010676511A CN 111912336 A CN111912336 A CN 111912336A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a method and a device for measuring single-shaft repeated positioning precision and electronic equipment, wherein the method comprises the steps of acquiring coordinate data of a plurality of position points of a measuring point under a coordinate system of a laser tracker when a robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in a plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point which is arranged on the robot and rotates around a shaft to be measured; during measurement, only the identification points are required to be arranged on the robot and the coordinates of the identification points are measured by the laser tracker, and a sensor is not required to be arranged on the robot to acquire the motion parameters of the robot, so that the robot is convenient and fast.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for measuring single-axis repeated positioning precision and electronic equipment.
Background
Industrial robots generally have at least one joint, each joint having a rotation axis, and the precision of the repetitive positioning when the arm of the robot is rotated about the rotation axis of the joint has a large influence on the machining precision when the robot is working, and therefore it is necessary to measure the precision of the single-axis repetitive positioning of each joint of the robot. However, when the single-axis repeated positioning accuracy of the robot joint is measured at present, various sensors are often required to be arranged on the robot before measurement so as to acquire the motion parameters of the robot, and the sensors are required to be detached after the measurement is completed, so that the operation is troublesome, and the efficiency is low.
Disclosure of Invention
In view of the defects of the prior art, an object of the embodiments of the present application is to provide a method and an apparatus for measuring a single-axis repeated positioning accuracy, and an electronic device, which are convenient and fast to use without arranging a sensor on a robot to obtain a motion parameter of the robot.
In a first aspect, an embodiment of the present application provides a method for measuring accuracy of single-axis repeated positioning, which is applied to a device for measuring accuracy of single-axis repeated positioning, where the device for measuring accuracy of single-axis repeated positioning includes a laser tracker, and includes:
when the robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously, coordinate data of a plurality of position points of a measuring point under a coordinate system of the laser tracker are obtained;
calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points;
calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation;
calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
calculating repeated positioning accuracy according to the rotation angle data;
the measuring point is an identification point arranged on the robot and rotating around the shaft to be measured.
In the method for measuring accuracy of single-axis repeated positioning, the step of calculating a plane equation of a plane in which the plurality of position points are located together according to the coordinate data of the plurality of position points includes:
and calculating a plane equation of a plane where the plurality of position points are located together by adopting a least square method.
In the method for measuring accuracy of single-axis repeated positioning, the step of calculating coordinate data of a rotation center of the plurality of position points in the plane equation based on the coordinate data of the plurality of position points and the plane equation includes:
solving the following equation by using a least square method to obtain the coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three coordinate values of the rotation center, respectively, n is the total number of the position points,
、
、
three coordinate values respectively representing the nth position point,
a radius of rotation representing the plurality of location points,
、
、
three coefficients of the plane equation are respectively.
In the method for measuring accuracy of single-axis repeated positioning, the step of calculating the rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points includes:
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of said location points,
to point from the centre of rotation to
The vector of the individual position points is,
to point from the centre of rotation to
A vector of location points.
In the method for measuring the accuracy of single-axis repositioning, the step of calculating the accuracy of repositioning according to the rotation angle data includes:
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of said location points,
is as follows
The data of the number of rotation angles,
is the average rotation angle data.
In a second aspect, an embodiment of the present application provides a single-axis repeated positioning precision measurement apparatus, including:
the first acquisition module is used for acquiring coordinate data of a plurality of position points of the measuring point under a coordinate system of the laser tracker when the robot rotates around the axis to be measured for a plurality of times at fixed angles continuously;
the first calculation module is used for calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points;
the second calculation module is used for calculating the coordinate data of the rotation centers of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation;
the third calculation module is used for calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
the fourth calculation module is used for calculating the repeated positioning precision according to the rotation angle data;
the measuring point is an identification point arranged on the robot and rotating around the shaft to be measured.
In the single-axis repeated positioning accuracy measuring apparatus, the second calculation module, when calculating the coordinate data of the rotation center of the plurality of position points in the plane equation based on the coordinate data of the plurality of position points and the plane equation,
solving the following equation by using a least square method to obtain the coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three coordinate values of the rotation center, respectively, n is the total number of the position points,
、
、
three coordinate values respectively representing the nth position point，
A radius of rotation representing the plurality of location points,
、
、
three coefficients of the plane equation are respectively.
In the single-axis repeated positioning precision measuring device, when the third calculating module calculates the rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points,
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of said location points,
to point from the centre of rotation to
The vector of the individual position points is,
to point from the centre of rotation to
A vector of location points.
In the single-axis repeated positioning precision measuring device, when the fourth calculating module calculates the repeated positioning precision according to the rotation angle data,
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of said location points,
is as follows
The data of the number of rotation angles,
is the average rotation angle data.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the method for measuring single-axis repeated positioning precision by calling the computer program stored in the memory.
Has the advantages that:
according to the method and the device for measuring the single-shaft repeated positioning precision and the electronic equipment, the coordinate data of a plurality of position points of a measuring point under a coordinate system of a laser tracker are obtained when the robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point which is arranged on the robot and rotates around the shaft to be measured; during measurement, only the identification points are required to be arranged on the robot and the coordinates of the identification points are measured by the laser tracker, and a sensor is not required to be arranged on the robot to acquire the motion parameters of the robot, so that the robot is convenient and fast.
Drawings
Fig. 1 is a flowchart of a method for measuring a single-axis repeated positioning accuracy according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a single-axis repeated positioning precision measuring apparatus according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a process of acquiring coordinate data of a plurality of position points of a measuring point in a laser tracker coordinate system.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a single-axis repeated positioning precision measurement method provided in the embodiment of the present application is applied to a single-axis repeated positioning precision measurement device, where the single-axis repeated positioning precision measurement device includes a laser tracker 90, and includes the steps of:
A1. when the robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously, coordinate data of a plurality of position points of a measuring point under a coordinate system of the laser tracker are obtained;
A2. calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points;
A3. calculating coordinate data of a rotation center of the plurality of position points in a plane equation according to the coordinate data of the plurality of position points and the plane equation;
A4. calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
A5. calculating repeated positioning accuracy according to the rotation angle data;
the measuring point is an identification point which is arranged on the robot and rotates around a shaft to be measured.
Taking fig. 4 as an example, the robot 91 in the figure is a multi-axis robot, the repeated positioning accuracy of the joint rotating shaft 93 is measured, a marker ball 92 is arranged at the tail end of the robot 91 to serve as a marker point, when the measurement is carried out, only the joint rotating shaft 93 rotates, other joints are kept still, the joint rotating shaft 93 rotates in a stepping mode, the angle theta of each rotation is the same, and the marker point is ensured to be in the visual field of the laser tracker 90. In step A1, the initial position (P in the figure) of the point is identified1Point), the laser tracker 90 measures the position of the marker point (P in the figure) after each rotation1Point to PnPoint) (coordinate data in the laser tracker coordinate system).
Similarly, if the repositioning accuracy of the joint rotating shaft 94 is to be measured, only the joint rotating shaft 94 rotates, other joints remain stationary, and other steps are the same.
Note that the marking point is not limited to a marking ball, and may be a marking point pattern that is transferred or painted on the robot 91; the identification point is not limited to be arranged at the tail end of the robot 91, and can be arranged in the middle of an arm rod rotating around the shaft to be measured, and if a flange plate rotating along with the shaft to be measured is arranged on the joint of the shaft to be measured, the identification point can be arranged on the flange plate.
Further, a2, calculating a plane equation of a plane where the plurality of position points collectively lie according to the coordinate data of the plurality of position points, includes:
a plane equation of a plane (hereinafter referred to as a rotation plane) in which the plurality of position points are located in common is calculated by least square fitting.
The plane equation can be expressed by the following formula:
(ii) a Wherein
、
、
Three coefficients of the plane equation are provided.
The method of fitting the plane equation of the plane in which the plurality of position points are located in common is not limited to the least squares method, and the fitting of the plane equation may be performed by any fitting method in the related art.
Further, a3, calculating the coordinate data of the rotation center of the plurality of position points in the plane equation based on the coordinate data of the plurality of position points and the plane equation, includes:
solving the following equation by using a least square method to obtain coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three coordinate values of the rotation center, n is the total number of the position points,
、
、
three coordinate values respectively representing the nth position point,
the radius of rotation of a plurality of location points is indicated,
、
、
three coefficients of the plane equation are provided.
Wherein the rotation center is substantially the intersection point of the actual rotation central axis of the axis to be measured and the rotation plane (taking fig. 4 as an example, the rotation center is P)cPoint), the rotation center belongs to a point on the rotation plane, and all the position points can be considered to be the dots having the rotation center as the dot
Is on the circumference of a radius and therefore has the system of equations described above.
Further, a3, calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points, including:
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of location points,
to point from the center of rotation to
The vector of the individual position points is,
to point from the center of rotation to
A vector of location points.
Further, A4, the step of calculating the repeated positioning accuracy according to the rotation angle data comprises:
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of location points,
is as follows
The data of the number of rotation angles,
is the average rotation angle data.
According to the single-shaft repeated positioning precision measuring method, the coordinate data of a plurality of position points of the measuring point under the coordinate system of the laser tracker are obtained when the robot rotates around the shaft to be measured for a plurality of times at fixed angles continuously; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point which is arranged on the robot and rotates around the shaft to be measured; during measurement, only the identification points are required to be arranged on the robot and the coordinates of the identification points are measured by the laser tracker, and the robot is not required to be provided with sensors to acquire the motion parameters of the robot, so that the sensors are not required to be disassembled after measurement, and the robot is convenient and quick.
Referring to fig. 2, an embodiment of the present application further provides a single-axis repeated positioning precision measuring apparatus, which includes a first obtaining module 1, a first calculating module 2, a second calculating module 3, a third calculating module 4, and a fourth calculating module 5;
the system comprises a first acquisition module 1, a second acquisition module and a third acquisition module, wherein the first acquisition module 1 is used for acquiring coordinate data of a plurality of position points of a measuring point under a coordinate system of a laser tracker when the robot rotates around a shaft to be measured continuously for a plurality of times at a fixed angle;
the first calculating module 2 is configured to calculate a plane equation of a plane where the plurality of position points are located together according to coordinate data of the plurality of position points;
the second calculating module 3 is configured to calculate, according to the coordinate data of the plurality of position points and the plane equation, coordinate data of a rotation center of the plurality of position points in the plane equation;
the third calculating module 4 is configured to calculate rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
the fourth calculating module 5 is configured to calculate the repeated positioning accuracy according to the rotation angle data;
the measuring point is an identification point which is arranged on the robot and rotates around a shaft to be measured.
Further, when the first calculation module 2 calculates the plane equation of the plane where the plurality of position points are located together according to the coordinate data of the plurality of position points, the plane equation of the plane where the plurality of position points are located together is calculated by adopting least square fitting.
Further, the second calculation module 3, when calculating the coordinate data of the rotation centers of the plurality of position points in the plane equation based on the coordinate data of the plurality of position points and the plane equation,
solving the following equation by using a least square method to obtain coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three seats with respective centers of rotationScalar value, n is the total number of location points,
、
、
three coordinate values respectively representing the nth position point,
the radius of rotation of a plurality of location points is indicated,
、
、
three coefficients of the plane equation are provided.
Further, the third calculating module 4 calculates the rotation angle data between two adjacent position points when calculating the rotation angle data based on the coordinate data of the rotation center and the coordinate data of the plurality of position points,
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of location points,
to point from the center of rotation to
The vector of the individual position points is,
to point from the center of rotation to
A vector of location points.
Further, when the fourth calculating module 5 calculates the repeated positioning accuracy according to the rotation angle data,
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of location points,
is as follows
The data of the number of rotation angles,
is the average rotation angle data.
Therefore, the single-shaft repeated positioning precision measuring device obtains the coordinate data of a plurality of position points of the measuring point under the coordinate system of the laser tracker through continuous multiple fixed-angle rotation of the robot around the shaft to be measured; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point which is arranged on the robot and rotates around the shaft to be measured; during measurement, only the identification points are required to be arranged on the robot and the coordinates of the identification points are measured by the laser tracker, and the robot is not required to be provided with sensors to acquire the motion parameters of the robot, so that the sensors are not required to be disassembled after measurement, and the robot is convenient and quick.
Referring to fig. 3, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the method for measuring the single-axis repeated positioning accuracy by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: when the robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously, coordinate data of a plurality of position points of a measuring point under a coordinate system of the laser tracker are obtained; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point arranged on the robot and rotating around the shaft to be measured.
Therefore, the electronic equipment acquires coordinate data of a plurality of position points of the measuring point under the coordinate system of the laser tracker through continuous fixed-angle rotation of the robot around the axis to be measured for a plurality of times; calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points; calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation; calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points; calculating repeated positioning accuracy according to the rotation angle data; the measuring point is an identification point which is arranged on the robot and rotates around the shaft to be measured; during measurement, only the identification points are required to be arranged on the robot and the coordinates of the identification points are measured by the laser tracker, and the robot is not required to be provided with sensors to acquire the motion parameters of the robot, so that the sensors are not required to be disassembled after measurement, and the robot is convenient and quick.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (10)
1. The utility model provides a unipolar repeated positioning accuracy measurement method, is applied to unipolar repeated positioning accuracy measurement device, unipolar repeated positioning accuracy measurement device includes laser tracker, its characterized in that includes the step:
when the robot rotates around a shaft to be measured for a plurality of times at fixed angles continuously, coordinate data of a plurality of position points of a measuring point under a coordinate system of the laser tracker are obtained;
calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points;
calculating coordinate data of a rotation center of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation;
calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
calculating repeated positioning accuracy according to the rotation angle data;
the measuring point is an identification point arranged on the robot and rotating around the shaft to be measured.
2. The method of measuring accuracy of single-axis repeated positioning according to claim 1, wherein the step of calculating a plane equation of a plane in which the plurality of position points are located in common from the coordinate data of the plurality of position points includes:
and calculating a plane equation of a plane where the plurality of position points are located together by adopting a least square method.
3. The method of measuring accuracy of one-axis repeated positioning according to claim 1, wherein the step of calculating the coordinate data of the rotation center of the plurality of position points in the plane equation from the coordinate data of the plurality of position points and the plane equation comprises:
solving the following equation by using a least square method to obtain the coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three coordinate values of the rotation center, respectively, n is the total number of the position points,
、
、
three coordinate values respectively representing the nth position point,
a radius of rotation representing the plurality of location points,
、
、
three coefficients of the plane equation are respectively.
4. The method of measuring accuracy of single-axis repeated positioning according to claim 1, wherein the step of calculating rotation angle data between two adjacent position points based on the coordinate data of the rotation center and the coordinate data of the plurality of position points comprises:
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of said location points,
to point from the centre of rotation to
The vector of the individual position points is,
to point from the centre of rotation to
A vector of location points.
5. The method of claim 1, wherein the step of calculating the repositioning accuracy from the rotation angle data comprises:
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of said location points,is as follows
The data of the number of rotation angles,
is the average rotation angle data.
6. A single-axis repeated positioning accuracy measuring device, comprising:
the first acquisition module is used for acquiring coordinate data of a plurality of position points of the measuring point under a coordinate system of the laser tracker when the robot rotates around the axis to be measured for a plurality of times at fixed angles continuously;
the first calculation module is used for calculating a plane equation of a plane where the plurality of position points are located together according to the coordinate data of the plurality of position points;
the second calculation module is used for calculating the coordinate data of the rotation centers of the plurality of position points in the plane equation according to the coordinate data of the plurality of position points and the plane equation;
the third calculation module is used for calculating rotation angle data between two adjacent position points according to the coordinate data of the rotation center and the coordinate data of the plurality of position points;
the fourth calculation module is used for calculating the repeated positioning precision according to the rotation angle data;
the measuring point is an identification point arranged on the robot and rotating around the shaft to be measured.
7. The single-axis repeated positioning accuracy measuring device according to claim 6, wherein the second calculation module, when calculating the coordinate data of the rotation center of the plurality of position points in the plane equation from the coordinate data of the plurality of position points and the plane equation,
solving the following equation by using a least square method to obtain the coordinate data of the rotation center:
wherein the content of the first and second substances,
、
、
three coordinate values of the rotation center, respectively, n is the total number of the position points,
、
、
three coordinate values respectively representing the nth position point,
a radius of rotation representing the plurality of location points,
、
、
three coefficients of the plane equation are respectively.
8. The single-axis repeated positioning accuracy measuring device according to claim 6, wherein the third calculating module calculates the rotation angle data between two adjacent position points based on the coordinate data of the rotation center and the coordinate data of the plurality of position points,
calculating rotation angle data between two adjacent position points according to the following formula:
wherein the content of the first and second substances,
is as follows
A rotation angle data, n being the total number of said location points,
to point from the centre of rotation to
The vector of the individual position points is,
to point from the centre of rotation to
A vector of location points.
9. The single-axis repositioning accuracy measuring device according to claim 6, wherein the fourth calculating module, when calculating the repositioning accuracy from the rotation angle data,
the repeat location accuracy is calculated according to the following formula:
wherein the content of the first and second substances,
for repeated positioning accuracy, n is the total number of said location points,
is as follows
The data of the number of rotation angles,
is the average rotation angle data.
10. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the method for measuring single-axis repositioning accuracy of any of claims 1-5 by calling the computer program stored in the memory.
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