CN106468572A - Articulated robot dynamic property evaluation system - Google Patents
Articulated robot dynamic property evaluation system Download PDFInfo
- Publication number
- CN106468572A CN106468572A CN201610787212.8A CN201610787212A CN106468572A CN 106468572 A CN106468572 A CN 106468572A CN 201610787212 A CN201610787212 A CN 201610787212A CN 106468572 A CN106468572 A CN 106468572A
- Authority
- CN
- China
- Prior art keywords
- network interface
- articulated robot
- camera
- robot
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of articulated robot dynamic property evaluation system, including：Network interface camera, optical target and industrial computer；Build precision adjustable camera calibration visual field using network interface camera, it is rigidly connected optical target in articulated robot end, repeat the changes in coordinates of mobile generation by recording articulated robot optical target under different motion parameter in camera calibration visual field, in kinematic parameter for articulated robot and articulated robot moving process, the relation between produced coordinate difference provides intuitively data, dynamic property with articulated robot of testing and assessing, and can be by the data of reperformance test, the optimum occupation mode of analysis articulated robot, thus for follow-up articulated robot motion when path planning and speed controlling provide instruct.
Description
Technical field
The present invention relates to Robotic Dynamic technical field of performance test, particularly to a kind of articulated robot dynamic property
Evaluation system.
Background technology
Articulated robot is one of form of modal industrial robot in current industrial circle, is suitable for many
The mechanical automation operation of industrial circle, such as, the work such as automatic assembling, spray painting, carrying, welding.With industrial automation water
Flat continuous lifting, articulated robot has become as on automatic production line and carries out Fine Boring and transport requisite dress
Put.
Repetitive positioning accuracy is the major criterion of the dynamic property weighing articulated robot.However, it is both domestic and external at present
The dynamic performance parameter of the articulated robot that articulated robot producer produces for oneself not yet forms a unified survey
Test-object is accurate, only marks such as numerical value such as " 20 μm of repetitive positioning accuracy " in description, and and the test of this index undeclared be
Based on which kind of mode or method.The linkage that articulated robot is constituted as multi-joint, the shifting of articulated robot itself
Dynamic error is exactly the accumulation of articulated robot each joint displacement error, and due to path when articulated robot moves, speed
Degree, the difference of acceleration, the mode of error accumulation is also different.In order to reduce displacement error during articulated robot motion, just
A kind of displacement error when needing specific device that articulated robot is moved detects, and by the number of reperformance test
According to the dynamic property of test and appraisal articulated robot, to analyze the occupation mode of articulated robot optimum, thus be multi-joint machine
Path planning during device people motion and speed controlling provide and instruct.
There are not the device of correlation or system can be the kinematic parameter of articulated robot and multi-joint in prior art
In robot moving process, relation between produced displacement error provides intuitively data, leads to test and assess exactly many
The dynamic property of articulated robot.
Content of the invention
The goal of the invention of the present invention is to provide a kind of articulated robot dynamic property evaluation system, to solve existing skill
Between art cannot be for produced displacement error in the kinematic parameter of articulated robot and articulated robot moving process
Relation provides intuitively data, leads to the problem of the dynamic property of articulated robot of can not testing and assessing exactly.
According to embodiments of the invention, there is provided a kind of articulated robot dynamic property evaluation system, described multi-joint
Be provided with robot platform below robot, described robot platform is provided with robot controller, described robot controller with
Described articulated robot connects, and described system includes network interface camera, optical target and industrial computer；
Described network interface camera is connected with described industrial computer, for the collection image being sent according to the described industrial computer receiving
Instruction, gathers the image of described optical target, sends described image to described industrial computer afterwards；
Described optical target is fixed on the end of described articulated robot, surveys for being located in described articulated robot
During examination position, provide labelling point for described articulated robot；Described test position is located at the surface of described network interface camera, institute
State articulated robot be located at described test position when, described optical target be located at described network interface camera camera calibration visual field
Interior, the target surface of described optical target is relative and parallel with the minute surface of the camera lens of described network interface camera；
Described industrial computer one end is connected with described robot controller, and the other end is connected with described network interface camera；Described work
Control machine is used for before testing, when described articulated robot is located at described test position, sends collection figure to described network interface camera
As instruction is to control the image of optical target described in described network interface collected by camera, receive according to described network interface collected by camera
The image of optical target, and choose a pixel in described image as labelling point, and according to described labelling point described
Setting coordinate reference coordinate in the camera calibration visual field of network interface camera；
Described articulated robot completes multiple test periods under the control of described robot controller, described industrial computer
For within each described test period, when described articulated robot is located at described test position, according to receive
The collection image request that robot controller sends, sends collection image command to control described network interface phase to described network interface camera
Machine gathers the image of described optical target, receives the image of described network interface collected by camera, obtains institute in each described test period
State changing coordinates in the camera calibration visual field of described network interface camera for the labelling point, calculate described reference coordinate and work as with each described
Generic pixel coordinate difference between front coordinate；Thus according in the plurality of test period, described kinematic parameter and described coordinate
Corresponding relation between difference, the dynamic property of described articulated robot of testing and assessing；
Described industrial computer sends kinematic parameter control instruction in test to described robot controller, makes described multi-joint
Under the control of described robot controller, the kinematic parameter according to setting completes the plurality of test period, each for robot
In described test period, described articulated robot from original position through set path movement to described test position, then warp
Cross set path and return described original position from described test position；In each described test period, described robot controller
Kinematic parameter different.
When described reference coordinate is that certain described articulated robot is located at described test position, described labelling point is described
An initial coordinate in the camera calibration visual field of network interface camera, or, described reference coordinate is that described articulated robot is many
Secondary move to described test position when, described labelling point corresponding multiple seat in the camera calibration visual field of described network interface camera
Target meansigma methodss.
The end of described articulated robot is fixed with keyset, and described optical target is rigidly connected with described keyset.
Described optical target includes：Housing, the white LED light source plate located at described enclosure interior, open located at described housing
The diffuse-reflectance plate at mouthful end and located at described shell nozzle end and be located at the glass target target outside described diffuse-reflectance plate.
Parallel and spaced a plurality of black scale is printed with described glass target target, described a plurality of black scale
Precision is different；Full accuracy in described precision is higher than the nominal full accuracy of described articulated robot.
Described white LED light source plate by described diffuse-reflectance plate shape uniformly illumination, through the glass of described glass target target
After glass medium, with described glass target target on black scale to form background in the camera calibration visual field of described network interface camera bright
Spend consistent target picture.
In described industrial computer, parallel running has vision localization software and robot controller software；
Described vision localization software passes through ethernet communication through the second network interface with described robot controller, for receiving
State the collection image request that robot controller sends；
Described vision localization software passes through ethernet communication through the first network interface with described network interface camera, for according to described machine
The collection image request that device people's controller sends, sends collection image command to described network interface camera, and receives described network interface
The image of collected by camera；
Described robot controller software passes through ethernet communication through described second network interface with described robot controller, uses
In to described robot controller transmission kinematic parameter control instruction.
Described network interface camera is fixed in detection platform, and described detection platform is plane marble board.
Movement velocity, motor pattern, path point position and motion that described kinematic parameter includes described articulated robot add
Speed.
From above technical scheme, the articulated robot dynamic property evaluation system of the present invention, including network interface camera,
Optical target and industrial computer；Build camera calibration visual field using network interface camera cooperation industrial computer, at the end of articulated robot
End is rigidly connected optical target, by record articulated robot under different motion parameter optical target in camera calibration visual field
Repeat the changes in coordinates of mobile generation, produced by kinematic parameter and the articulated robot moving process of articulated robot
Coordinate difference between relation provide intuitively data, with the dynamic property of articulated robot of testing and assessing it is possible to by repeating
Property test data, the optimum occupation mode of analysis articulated robot, thus for during follow-up articulated robot motion
Path planning and speed controlling provide and instruct.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Need use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only the present invention some enforcement
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of schematic diagram of articulated robot dynamic property evaluation system provided in an embodiment of the present invention；
Fig. 2 is the cross-sectional view of the optical target in Fig. 1；
Fig. 3 is the operation principle block diagram between industrial computer and robot controller and network interface camera in Fig. 1.
In figure：1- robot platform；2- robot controller；3- articulated robot；4- detection platform；5- camera opticses
Support；6- network interface camera；7- optical target；8- industrial computer；30- keyset；71- housing；72- white LED light source plate；73- overflows
Reflecting plate；74- glass target target；81- first network interface；82- second network interface；83- vision localization software；84- robot controller
Software.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, the present invention provides a kind of articulated robot dynamic property evaluation system, described articulated robot
It is provided with robot platform 1, robot platform 1 is provided with robot controller 2, robot controller 2 and multi-joint machine below 3
People 3 connects, and robot controller 2 is used for controlling the motion of articulated robot 3.
The articulated robot dynamic property evaluation system of the present invention, the adaptation to the board environment of articulated robot 3
Property strong, as long as articulated robot 3 is seated on robot platform 1, you can the articulated robot dynamic of the arrangement present invention
Energy evaluation system, tests to the 3 of articulated robot dynamic property.
Below the concrete composition of articulated robot dynamic property evaluation system provided in an embodiment of the present invention is said
Bright.
In the present embodiment, the articulated robot dynamic property evaluation system of the present invention includes：
Detection platform 4, camera opticses support 5, network interface camera 6, optical target 7 and industrial computer 8.
Wherein, detection platform 4 can be on robot platform 1, for carrying camera opticses support 5.
Further, detection platform 4 can be small-sized marble board or the higher optics of other flatnesses is put down
Platform, detection platform 4 has higher flatness, can improve number when the dynamic property to articulated robot 3 is tested
According to accuracy.
Camera opticses support 5, in detection platform 4, is used for fixing network interface camera 6.
Camera opticses support 5 can include the montant being fixed in detection platform 4 and the cross bar being connected with montant, montant
It is connected by a fixed cover between cross bar, cross bar one end is used for fixing network interface camera 6.
To adjust the height of cross bar, and then the height of network interface camera 6 can be adjusted by adjusting height on montant for the fixed cover
Degree.The length of fixed cover can be stretched out by adjusting cross bar, to adjust network interface camera 6 position in the horizontal direction.
Network interface camera 6 is fixed on camera opticses support 5, and is connected with industrial computer 8, for according to the industrial computer receiving
The collection image command of 8 transmissions, the image of collection optical target 7, afterwards image is sent to industrial computer 8.
Network interface camera 6 is usually million grades of pixels, with the camera lens that configuration is matched with high-resolution often, and network interface phase
Popularization is compared in the use of the Ethernet interface of machine 6 and Data Transmission Feature is preferable, and therefore cost performance is higher.
Optical target 7 is fixed on the end of articulated robot 3, for articulated robot 3 be located at test position when,
There is provided labelling point for articulated robot 3.
Test position is located at the surface of network interface camera 6, when articulated robot 3 is located at test position, optical target 7
In the camera calibration visual field of network interface camera 6, the target surface of optical target 7 is relative with the minute surface of the camera lens of network interface camera 6 and parallel.
Specifically, the end of articulated robot 3 is fixed with keyset 30, and optical target 7 is rigidly connected with keyset 30.
Specifically, optical target 7 includes：Housing 71, the white LED light source plate 72 within located at housing 71, located at housing
The diffuse-reflectance plate 73 of 71 openings and located at housing 71 opening and be located at the glass target target 74 in diffuse-reflectance plate 73 outside.
Wherein, the material of housing 71 can be aluminum.
Parallel and spaced a plurality of black scale is printed with glass target target 74, the precision of a plurality of black scale is each
Differ；Full accuracy in precision can be higher than the nominal full accuracy of articulated robot.
In the present embodiment, the full accuracy in precision can be 10 μm, and black scale is included with 10 μm as full accuracy
Target, to be consistent with robot product highest repetitive positioning accuracy of the same trade, and precision of loweing line by line, adapt to different
Required precision, can select the black scale of corresponding precision to build labelling point according to actual needs.
White LED light source plate 72 can form uniform illumination, and the glass through glass target target 74 by diffuse-reflectance plate 73
After medium, to form background luminance in the camera calibration visual field of network interface camera 6 consistent with the black scale on glass target target 74,
And the extremely strong target picture of contrast, thus be conducive to the seizure of image and the structure of succeeding marker point and acquisition.
Because optical target 7 is to be imaged in the camera calibration visual field of network interface camera 6 in the way of active light, therefore it is imaged
It is not easily susceptible to ambient stray light or the impact of light and shade field, there is certain luminous environment adaptability.
Industrial computer 8 one end is connected with robot controller 2, and the other end is connected with network interface camera 6, by Ethernet realize with
Data interaction between robot controller 2 and network interface camera 6.
Industrial computer 8 is used for before testing, when articulated robot 3 is located at test position, sends collection figure to network interface camera 6
As instruction is to control network interface camera 6 to gather the image of optical target 7, receive the figure of the optical target 7 according to network interface camera 6 collection
Picture, and choose a pixel in image as labelling point, and according to labelling point in the camera calibration visual field of network interface camera 6
Setting coordinate reference coordinate.
Articulated robot 3 completes multiple test periods under the control of robot controller 2, and industrial computer 8 is used for every
In individual test period, when articulated robot 3 is located at test position, the collection that the robot controller 2 according to receiving sends
Image request, sends collection image command to control network interface camera 6 to gather the image of optical target 7 to network interface camera 6, receives net
The image of mouth camera 6 collection, obtains each test period internal labeling point current seat in the camera calibration visual field of network interface camera 6
Mark, the generic pixel coordinate difference between calculating benchmark coordinate and each changing coordinates；Thus according in multiple test periods, moving
Corresponding relation between parameter and coordinate difference, the dynamic property of test and appraisal articulated robot.
Meanwhile, industrial computer 8 sends kinematic parameter control instruction in test to robot controller 2, makes multi-joint machine
Under the control of robot controller 2, the kinematic parameter according to setting completes multiple test periods to people 3.
In each test period, articulated robot 3 from original position through set path movement to test position, then warp
Cross set path from test position correcting action；In each test period, the kinematic parameter of robot controller 2 is different.
During generic pixel coordinate difference between calculating benchmark coordinate and each changing coordinates, the establishing method of reference coordinate
Calculate demand depending on specific potential difference, can have multiple setting means.
In the present embodiment, when reference coordinate can be that certain articulated robot 3 is located at test position, labelling point is in net
An initial coordinate in the camera calibration visual field of mouth camera 6 or articulated robot move to test position more than 3 time
When, the meansigma methodss of labelling point corresponding multiple coordinate in the camera calibration visual field of network interface camera 6, in addition it is also possible to according to it
His rule settings reference coordinate.Wherein it is possible to according to actual needs, choose labelling point in the black scale of corresponding precision.
Specifically, in industrial computer 8, parallel running has vision localization software 83 and robot controller software 84.
Wherein, vision localization software 83 passes through ethernet communication through the second network interface 82 and robot controller 2, for receiving
The collection image request that robot controller 2 sends.
Vision localization software 83 passes through ethernet communication through the first network interface 81 and network interface camera 6, for according to robot control
The collection image request that device 2 processed sends, sends collection image command to network interface camera 6, and the figure receiving network interface camera 6 collection
Picture.
Robot controller software 84 passes through ethernet communication through the second network interface 82 and robot controller 2, for machine
Device people's controller 2 sends kinematic parameter control instruction.
The articulated robot dynamic property evaluation system of the present invention, can be in the following manner to network interface in actual erection
Camera 6 is adjusted.
First, in articulated robot 3 end, optical target 7 is fixed by keyset 30, robot platform 1 is placed
Detection platform 4, and fix network interface camera 6 using the camera opticses support 5 having certain vertical precision with detection platform 4, adjust many
The orientation of articulated robot 3 end, makes optical target 7 enter the field of view center of network interface camera 6.
Then, the aperture of adjustment network interface camera 6 and focal length, and network interface camera 6 and optics are adjusted by camera opticses support 5
The distance of target 7, adjusts the brightness of optical target 7 so that optical target 7 is in the camera calibration visual field of network interface camera 6 simultaneously
Blur-free imaging.
Afterwards, available electronic horizontal ruler does horizontal reference mark in the plane of the detection platform 4 below network interface camera 6
Fixed, then electronic horizontal ruler is placed on keyset 30 back side, the attitude of adjustment articulated robot 3 is so that optical target 7 and inspection
Survey platform 4 and keep level.So far, the primary optical axis of network interface camera 6 and the perpendicularity of optical target 7 have reached mechanical precision.
Finally, the focal length then to network interface camera 6 and aperture are finely adjusted, and on prominent optical target 7, contrast is obvious
Eigenvector.Because detection platform 4 has higher flatness, and the prudent of itself can effectively absorb articulated robot 3
The micro-vibration that during high-speed mobile, detection platform 4 caused is it is ensured that the picture remains stationary of network interface camera 6.
The work process of the articulated robot dynamic property evaluation system of the present invention is as follows：
Before test, need to build, using optical target 7, the labelling point representing articulated robot 3 position, and according to labelling
Setting coordinate reference coordinate in the camera calibration visual field of network interface camera 6 for the point, is specifically as follows：
Control articulated robot 3 mobile to test position by robot controller 2, fixed by the vision of industrial computer 8
Position software 83, sends collection image command to network interface camera 6, to control network interface camera 6 to gather the image of optical target 7.
The collection image command that network interface camera 6 sends according to industrial computer 8, completes the collection of the image to optical target 7, and
Image is sent to the vision localization software 83 of industrial computer 8.
After the vision localization software 83 of industrial computer 8 receives the image of network interface camera 6 collection, choose a pixel in image
Point as labelling point, reference coordinate can be set as certain articulated robot 3 be located at test position when, labelling point is in network interface phase
An initial coordinate in the camera calibration visual field of machine 6 is it is also possible to be set as that articulated robot moves to test position more than 3 time
When, the meansigma methodss of labelling point corresponding multiple coordinate in the camera calibration visual field of network interface camera 6.
It should be noted that during building labelling point, corresponding precision on optical target 7 can be chosen according to actual needs
Black scale, such as precision is 10 μm of black scale, then adjusts lens focus and the aperture of network interface camera 6, adjusts network interface
The parameter such as the exposure of camera 6 and gain is it is ensured that the precision of optical target 7 is 10 μm of black scale single pixel on image
Blur-free imaging in category, can choose a pixel in image afterwards as labelling point.
After representing the labelling point of articulated robot 3 position using optical target 7 structure, just can pass through the present invention's
Articulated robot dynamic property evaluation system, tests and assesses to the dynamic property of articulated robot 3.
During test, by the robot controller software 84 of industrial computer 8, send kinematic parameter control to robot controller 2
System instruction, makes articulated robot 3 under the control of robot controller 2, and the kinematic parameter according to setting completes multiple tests
Cycle.
Specifically, in each test period, articulated robot 3 from original position through set path movement to test position
Put, then through set path from test position correcting action, thus completing one cycle.
Wherein, kinematic parameter can include movement velocity, motor pattern, path point position and the motion of articulated robot 3
Acceleration etc., and can be within each test period, by the robot controller software 84 of industrial computer 8, to robot control
Device 2 processed sends different kinematic parameter control instructions, makes articulated robot 3 under the control of robot controller 2, according to setting
Fixed kinematic parameter completes multiple test periods.
Further, within each test period, when articulated robot 3 is located at test position, robot controller 2 can be to
The vision localization software 83 of industrial computer 8 sends collection image request.
The collection image request that the vision localization software 83 of industrial computer 8 sends according to the robot controller 2 receiving, to
Network interface camera 6 sends collection image command.
Network interface camera 6, after the collection image command that the vision localization software 83 receiving industrial computer 8 sends, gathers optics
The image of target 7, and image is sent to the vision localization software 83 of industrial computer 8.
After the vision localization software 83 of industrial computer 8 receives the image of network interface camera 6 collection, obtain in each test period,
Changing coordinates in the camera calibration visual field of network interface camera 6 for the labelling point, and between calculating benchmark coordinate and each changing coordinates
Generic pixel coordinate difference, thus being produced by kinematic parameter and articulated robot 3 moving process of articulated robot 3
Coordinate difference between relation intuitively data is provided.Can by the data of reperformance test, according in multiple test periods,
Corresponding relation between kinematic parameter and coordinate difference, the dynamic property of test and appraisal articulated robot 3, analyze articulated robot 3
Optimum occupation mode, thus path planning when moving for follow-up articulated robot 3 and speed controlling provide and instruct.
It should be noted that the articulated robot dynamic property evaluation system of the present invention is when actually used, can basis
The basic framework of system, increases the observation station of network interface camera 6, to adapt to specific detection demand.
From above technical scheme, the articulated robot dynamic property evaluation system of the present invention, including network interface camera
6th, optical target 7 and industrial computer 8；Using network interface camera 6 cooperation, industry control 8 mechanism builds camera calibration visual field, in multi-joint machine
People 3 end is rigidly connected optical target 7, by record articulated robot 3 under different motion parameter optical target 7 in camera
Field of detection repeats the changes in coordinates of mobile generation, is that the kinematic parameter of articulated robot 3 is moved through with articulated robot 3
In journey, the relation between produced coordinate difference provides intuitively data, with the dynamic property of articulated robot 3 of testing and assessing, and can
By the data of reperformance test, to analyze the occupation mode of articulated robot 3 optimum, thus being follow-up multi-joint machine
Path planning during people 3 motion and speed controlling provide and instruct.
Those skilled in the art, after considering description and putting into practice invention disclosed herein, will readily occur to its of the present invention
Its embodiment.The application is intended to any modification, purposes or the adaptations of the present invention, these modifications, purposes or
Person's adaptations are followed the general principle of the present invention and are included the undocumented common knowledge in the art of the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It is described above and precision architecture illustrated in the accompanying drawings it should be appreciated that the invention is not limited in, and
And various modifications and changes can carried out without departing from the scope.The scope of the present invention only to be limited by appended claim.
Claims (9)
1. a kind of articulated robot dynamic property evaluation system, is provided with robot platform below described articulated robot (3)
(1), described robot platform (1) is provided with robot controller (2), described robot controller (2) and described multi-joint machine
Device people (3) connects it is characterised in that described system includes network interface camera (6), optical target (7) and industrial computer (8)；
Described network interface camera (6) is connected with described industrial computer (8), for adopting of being sent according to the described industrial computer (8) receiving
Collection image command, gathers the image of described optical target (7), sends described image to described industrial computer (8) afterwards；
Described optical target (7) is fixed on the end of described articulated robot (3), in described articulated robot (3)
Positioned at test position when, be described articulated robot (3) provide labelling point；Described test position is located at described network interface camera
(6) surface, when described articulated robot (3) is located at described test position, described optical target (7) is located at described network interface
In the camera calibration visual field of camera (6), the minute surface phase of the target surface of described optical target (7) and the camera lens of described network interface camera (6)
To and parallel；
Described industrial computer (8) one end is connected with described robot controller (2), and the other end is connected with described network interface camera (6)；Institute
State industrial computer (8) for before testing, when described articulated robot (3) is located at described test position, according to described network interface phase
The image of the described optical target (7) that machine (6) gathers, choose described image in a pixel as labelling point, and according to
Setting coordinate reference coordinate in the camera calibration visual field of described network interface camera (6) for the described labelling point；
Described articulated robot (3) completes multiple test periods under the control of described robot controller (2), described industry control
Machine (8) was used within each described test period, when described articulated robot (3) is located at described test position, according to reception
To the collection image request that sends of described robot controller (2), to described network interface camera (6) send collection image command with
Control described network interface camera (6) to gather the image of described optical target (7), receive the image that described network interface camera (6) gathers, obtain
Take changing coordinates in the camera calibration visual field of described network interface camera (6) for the described labelling point in each described test period, meter
Calculate the generic pixel coordinate difference between described reference coordinate and each described changing coordinates；Thus according to the plurality of test period
Interior, between described kinematic parameter and described coordinate difference corresponding relation, the dynamic property of described articulated robot of testing and assessing；
Described industrial computer (8) sends kinematic parameter control instruction in test to described robot controller (2), makes described many passes
Under the control of described robot controller (2), the kinematic parameter according to setting completes the plurality of test week to section robot (3)
Phase, in each described test period, described articulated robot (3) from original position through set path movement to described test
Position, then return described original position through set path from described test position；In each described test period, described machine
The kinematic parameter of people's controller (2) is different.
2. system according to claim 1 is it is characterised in that described reference coordinate is certain described articulated robot
(3) when being located at described test position, an initial seat in the camera calibration visual field of described network interface camera (6) for the described labelling point
Mark, or, when described reference coordinate repeatedly moves to described test position for described articulated robot (3), described labelling point
The meansigma methodss of corresponding multiple coordinate in the camera calibration visual field of described network interface camera (6).
3. system according to claim 1 is it is characterised in that the end of described articulated robot (3) is fixed with switching
Plate (30), described optical target (7) and described keyset (30) are rigidly connected.
4. system according to claim 1 is it is characterised in that described optical target (7) includes：Housing (71), located at institute
State the internal white LED light source plate (72) of housing (71), the diffuse-reflectance plate (73) located at described housing (71) opening and set
In described housing (71) opening and be located at described diffuse-reflectance plate (73) outside glass target target (74).
5. system according to claim 4 is it is characterised in that be printed with parallel and mutual on described glass target target (74)
The a plurality of black scale at interval, the precision of described a plurality of black scale is different；Full accuracy in described precision is higher than institute
State the nominal full accuracy of articulated robot (3).
6. system according to claim 5 is it is characterised in that described white LED light source plate (72) is by described diffuse-reflectance
Plate (73) forms uniform illumination, after the glass medium through described glass target target (74), on described glass target target (74)
Black scale form the consistent target picture of background luminance in the camera calibration visual field of described network interface camera (6).
7. system according to claim 1 is it is characterised in that the interior parallel running of described industrial computer (8) has vision localization soft
Part (83) and robot controller software (84)；
Described vision localization software (83) passes through ethernet communication through the second network interface (82) with described robot controller (2), uses
The collection image request sending in the described robot controller of reception (2)；
Described vision localization software (83) passes through ethernet communication through the first network interface (81) with described network interface camera (6), for root
The collection image request sending according to described robot controller (2), sends collection image command to described network interface camera (6), with
And receive the image that described network interface camera (6) gathers；
Described robot controller software (84) passes through Ethernet through described second network interface (82) with described robot controller (2)
Communication, for sending kinematic parameter control instruction to described robot controller (2).
8. system according to claim 1 is it is characterised in that described network interface camera (6) is fixed in detection platform (4),
Described detection platform (4) is plane marble board.
9. system according to claim 1 is it is characterised in that described kinematic parameter includes described articulated robot (3)
Movement velocity, motor pattern, path point position and acceleration of motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787212.8A CN106468572B (en) | 2016-08-30 | 2016-08-30 | Articulated robot dynamic property evaluation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787212.8A CN106468572B (en) | 2016-08-30 | 2016-08-30 | Articulated robot dynamic property evaluation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106468572A true CN106468572A (en) | 2017-03-01 |
| CN106468572B CN106468572B (en) | 2018-10-16 |
Family
ID=58230053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610787212.8A Active CN106468572B (en) | 2016-08-30 | 2016-08-30 | Articulated robot dynamic property evaluation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106468572B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088892A (en) * | 2017-04-01 | 2017-08-25 | 西安交通大学 | A kind of industrial robot motion accuracy checking method based on binocular vision |
| CN108051031A (en) * | 2017-12-20 | 2018-05-18 | 台州职业技术学院 | The pose measuring method of all directionally movable robot |
| CN108801924A (en) * | 2018-08-21 | 2018-11-13 | 歌尔股份有限公司 | A kind of optical test equipment |
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN110646180A (en) * | 2019-08-27 | 2020-01-03 | 杭州电子科技大学 | Horizontal type soft arthropod robot joint testing device and testing method thereof |
| CN111070209A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Shaft precision measuring method and device and industrial robot |
| CN111113486A (en) * | 2019-11-22 | 2020-05-08 | 上海新时达机器人有限公司 | Performance test method and device of mechanical arm, computer equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060070443A1 (en) * | 2004-09-29 | 2006-04-06 | Innalabs Technologies, Inc. | Magnetofluidic accelerometer with capacitive sensing of inertial body position |
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN102226701A (en) * | 2011-04-19 | 2011-10-26 | 中国科学院上海光学精密机械研究所 | Optical dynamic target device with high accuracy |
| CN104567787A (en) * | 2013-10-12 | 2015-04-29 | 北京航天计量测试技术研究所 | Method for calibrating measurement accuracy of dynamic angle measuring system |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| CN105798909A (en) * | 2016-04-29 | 2016-07-27 | 上海交通大学 | Calibration system and method of zero position of robot based on laser and vision |
-
2016
- 2016-08-30 CN CN201610787212.8A patent/CN106468572B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060070443A1 (en) * | 2004-09-29 | 2006-04-06 | Innalabs Technologies, Inc. | Magnetofluidic accelerometer with capacitive sensing of inertial body position |
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN102226701A (en) * | 2011-04-19 | 2011-10-26 | 中国科学院上海光学精密机械研究所 | Optical dynamic target device with high accuracy |
| CN104567787A (en) * | 2013-10-12 | 2015-04-29 | 北京航天计量测试技术研究所 | Method for calibrating measurement accuracy of dynamic angle measuring system |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| CN105798909A (en) * | 2016-04-29 | 2016-07-27 | 上海交通大学 | Calibration system and method of zero position of robot based on laser and vision |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088892A (en) * | 2017-04-01 | 2017-08-25 | 西安交通大学 | A kind of industrial robot motion accuracy checking method based on binocular vision |
| CN108051031A (en) * | 2017-12-20 | 2018-05-18 | 台州职业技术学院 | The pose measuring method of all directionally movable robot |
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN108801924A (en) * | 2018-08-21 | 2018-11-13 | 歌尔股份有限公司 | A kind of optical test equipment |
| CN108801924B (en) * | 2018-08-21 | 2024-04-05 | 歌尔股份有限公司 | Optical test equipment |
| CN110646180A (en) * | 2019-08-27 | 2020-01-03 | 杭州电子科技大学 | Horizontal type soft arthropod robot joint testing device and testing method thereof |
| CN111113486A (en) * | 2019-11-22 | 2020-05-08 | 上海新时达机器人有限公司 | Performance test method and device of mechanical arm, computer equipment and storage medium |
| CN111070209A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Shaft precision measuring method and device and industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106468572B (en) | 2018-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106468572B (en) | Articulated robot dynamic property evaluation system | |
| CN107584263B (en) | A kind of vision positioning guide device and bootstrap technique | |
| CN105675266B (en) | Infinite conjugate optical path measures the device and method of the modulation transfer function of optical lens | |
| US8339463B2 (en) | Camera lens calibration system | |
| CN100430685C (en) | Systems and methods for rapidly automatically focusing a machine vision inspection system | |
| CN100518488C (en) | Pick and place equipment with component placement inspection | |
| CN100412503C (en) | Multi visual angle laser measuring head and its calibration method | |
| CN102172806B (en) | Image recognition technology based full-automatic welding system and operation method thereof | |
| CN104006825A (en) | System and method for calibration of machine vision cameras along at least three discrete planes | |
| CN109263253B (en) | Crystalline silicon photovoltaic solar cell printing positioning platform calibration method and device based on machine vision | |
| CN104913737A (en) | Component quality checking device based on line laser three-dimensional measurement and detection method of device | |
| CN109765242A (en) | A kind of high-resolution smooth surface quality measuring device of high detection efficiency and method | |
| CN107607298A (en) | The performance measurement method and its detection device of a kind of optical lens | |
| CN103674962A (en) | Printing plate quality detection system and method | |
| CN105953771A (en) | Active theodolite system and measuring method | |
| CN110296689B (en) | Device and method for testing sweep image overlapping rate in aerial imaging camera | |
| CN204328521U (en) | The radiographic measurement equipment of rim(ming) light lighting module and rim(ming) light illumination | |
| CN109781068B (en) | Visual measurement system ground simulation evaluation system and method for space application | |
| CN108010875A (en) | Substrate alignment apparatus and detecting system | |
| CN106737859A (en) | The method for calibrating external parameters of sensor and robot based on invariable plane | |
| CN103398669A (en) | Multi-axis linkage visual inspection method and equipment used for measuring free-form surface | |
| CN102313525B (en) | Laser beam parallelism regulating system and regulating method thereof | |
| CN108958256A (en) | A kind of vision navigation method of mobile robot based on SSD object detection model | |
| CN109863382A (en) | Test equipment, testing station and headlamp setting device and test method is arranged in headlamp | |
| CN116402797A (en) | Large-breadth micro defect detection system and method based on double-precision imaging module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100094 701, 7 floor, 7 building, 13 Cui Hunan Ring Road, Haidian District, Beijing. Patentee after: Lingyunguang Technology Co.,Ltd. Address before: 100094 701, 7 floor, 7 building, 13 Cui Hunan Ring Road, Haidian District, Beijing. Patentee before: Beijing lingyunguang Technology Group Co.,Ltd. Address after: 100094 701, 7 floor, 7 building, 13 Cui Hunan Ring Road, Haidian District, Beijing. Patentee after: Beijing lingyunguang Technology Group Co.,Ltd. Address before: 100094 701, 7 floor, 7 building, 13 Cui Hunan Ring Road, Haidian District, Beijing. Patentee before: LUSTER LIGHTTECH GROUP Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |