CN106468572B - Articulated robot dynamic property evaluation system - Google Patents
Articulated robot dynamic property evaluation system Download PDFInfo
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- CN106468572B CN106468572B CN201610787212.8A CN201610787212A CN106468572B CN 106468572 B CN106468572 B CN 106468572B CN 201610787212 A CN201610787212 A CN 201610787212A CN 106468572 B CN106468572 B CN 106468572B
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- 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
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses a kind of articulated robot dynamic property evaluation systems, including：Network interface camera, optical target and industrial personal computer；The adjustable camera field of detection of precision is built using network interface camera, in articulated robot end rigid connection optical target, by recording articulated robot optical target under different motion parameter the mobile changes in coordinates generated is repeated in camera field of detection, relationship between generated coordinate difference in the kinematic parameter and articulated robot moving process of articulated robot provides intuitive data, with the dynamic property for articulated robot of testing and assessing, and the data of reperformance test can be passed through, analyze the optimal occupation mode of articulated robot, to for subsequent articulated robot movement when path planning and speed control guidance is provided.
Description
Technical field
The present invention relates to Robotic Dynamic technical field of performance test, more particularly to a kind of articulated robot dynamic property
Evaluation system.
Background technology
Articulated robot is one of the form of most common industrial robot in current industrial circle, suitable for many
The mechanical automation operation of industrial circle, for example, the work such as automatic assembling, spray painting, carrying, welding.With industrial automation water
Flat continuous promotion, articulated robot, which has become, carries out precision assembly and the essential dress of transport on automatic production line
It sets.
Repetitive positioning accuracy is the major criterion for the dynamic property for weighing articulated robot.However, both domestic and external at present
The dynamic performance parameter for the articulated robot that articulated robot producer produces 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 " on specification, and and do not specify the test of the index and 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 each joint displacement error of articulated robot, and due to path when articulated robot moves, speed
The difference of degree, acceleration, the mode of error accumulation are also different.In order to reduce displacement error when articulated robot movement, just
The number that a kind of displacement error when specific device being needed to move articulated robot is detected, and passes through reperformance test
According to the dynamic property for articulated robot of testing and assessing, to analyze the optimal occupation mode of articulated robot, to be multi-joint machine
Path planning and speed control when device people moves provide guidance.
It can be the kinematic parameter and multi-joint of articulated robot not have relevant device or system in the prior art
Relationship in robot moving process between generated displacement error provides intuitive data, causes accurately to test and assess more
The dynamic property of articulated robot.
Invention content
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
Art can not be between generated displacement error in the kinematic parameter and articulated robot moving process of articulated robot
The problem of relationship provides intuitive data, the dynamic property for the articulated robot that causes accurately to test and assess.
According to an embodiment of the invention, a kind of articulated robot dynamic property evaluation system, the multi-joint are provided
Be equipped with robot platform below robot, the robot platform is equipped with robot controller, the robot controller with
The articulated robot connection, the system comprises network interface camera, optical target and industrial personal computers；
The network interface camera is connect with the industrial personal computer, the acquisition image for being sent according to the industrial personal computer received
Instruction, acquires the image of the optical target, described image is sent to the industrial personal computer later；
The optical target is fixed on the end of the articulated robot, is surveyed for being located in the articulated robot
When trying position, mark point is provided for the articulated robot；The test position is located at the surface of the network interface camera, institute
When stating articulated robot and being located at the test position, the optical target is located at the camera field of detection of the network interface camera
Interior, the target surface of the optical target is opposite and parallel with the minute surface of the camera lens of the network interface camera；
Described industrial personal computer one end is connect with the robot controller, and the other end is connect with the network interface camera；The work
Control machine is for before testing, when the articulated robot is located at the test position, acquisition figure being sent to the network interface camera
As instructing to control the image that the network interface camera acquires the optical target, receive according to described in network interface camera acquisition
The image of optical target, and a pixel in described image is chosen as mark point, and according to the mark point described
Setting coordinate reference coordinate in the camera field of detection of network interface camera；
The articulated robot is completed multiple test periods under the control of the robot controller, the industrial personal computer
For within each test period, when the articulated robot is located at the test position, according to receiving
The acquisition image request that robot controller is sent out sends acquisition image command to control the network interface phase to the network interface camera
Machine acquires the image of the optical target, receives the image of the network interface camera acquisition, obtains institute in each test period
Changing coordinates of the mark point in the camera field of detection of the network interface camera are stated, the reference coordinate is calculated and works as with each described
Generic pixel coordinate difference between preceding coordinate；Thus according in the multiple test period, the kinematic parameter and the coordinate
Correspondence between difference, the dynamic property for the articulated robot of testing and assessing；
The industrial personal computer sends kinematic parameter control instruction in test to the robot controller, makes the multi-joint
Robot completes the multiple test period under the control of the robot controller according to the kinematic parameter of setting, each
In the test period, the articulated robot is moved to the test position from initial position by setting path, then passes through
It crosses setting path and returns to the initial position from the test position；In each test period, the robot controller
Kinematic parameter it is different.
When the reference coordinate is that certain described articulated robot is located at the test position, the mark point is described
An initial coordinate in the camera field of detection of network interface camera, alternatively, the reference coordinate is that the articulated robot is more
It is secondary move to the test position when, the mark point corresponding multiple seat in the camera field of detection of the network interface camera
Target average value.
The end of the articulated robot is fixed with pinboard, and the optical target is rigidly connected with the pinboard.
The optical target includes：Shell, the white LED light source plate for being disposed in the housing portion are opened set on the shell
The diffusing reflection plate and the glass target target set on the shell nozzle end and on the outside of the diffusing reflection plate at mouth end.
Parallel and spaced a plurality of black scale is printed on the glass target target, a plurality of black scale
Precision is different；Full accuracy in the precision is higher than the nominal full accuracy of the articulated robot.
The white LED light source plate forms uniform illumination by the diffusing reflection plate, through the glass of the glass target target
After glass medium, it is bright that background is formed in the camera field of detection of the network interface camera with the black scale on the glass target target
Spend consistent target picture.
Operation has vision positioning software and robot controller software parallel in the industrial personal computer；
The vision positioning software through the second network interface and the robot controller by ethernet communication, for receiving
State the acquisition image request that robot controller is sent out；
The vision positioning software, by ethernet communication, is used for according to the machine through the first network interface and the network interface camera
The acquisition image request that device people's controller is sent out sends acquisition image command to the network interface camera, and receives the network interface
The image of camera acquisition；
The robot controller software, by ethernet communication, is used through second network interface and the robot controller
In to the robot controller send kinematic parameter control instruction.
The network interface camera is fixed in detection platform, and the detection platform is plane marble board.
The kinematic parameter includes that movement velocity, motor pattern, path point and the movement of the articulated robot add
Speed.
By above technical scheme it is found that the present invention articulated robot dynamic property evaluation system, including network interface camera,
Optical target and industrial personal computer；Camera field of detection is built using network interface camera cooperation industrial personal computer, at the end of articulated robot
End rigid connection optical target, by record articulated robot under different motion parameter optical target in camera field of detection
The mobile changes in coordinates generated is repeated, produced by the kinematic parameter and articulated robot moving process of articulated robot
Coordinate difference between relationship intuitive data are provided, with the dynamic property for articulated robot of testing and assessing, and repetition can be passed through
Property test data, the optimal occupation mode of analysis articulated robot, to for the movement of subsequent articulated robot when
Path planning and speed control provide guidance.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached 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 industrial personal computer in Fig. 1 and the operation principle block diagram between robot controller and network interface camera.
In figure：1- robot platforms；2- robot controllers；3- articulated robots；4- detection platforms；5- camera optics
Holder；6- network interface cameras；7- optical targets；8- industrial personal computers；30- pinboards；71- shells；72- white LED light source plates；73- is unrestrained
Reflecting plate；74- glass target targets；The first network interfaces of 81-；The second network interfaces of 82-；83- vision positioning softwares；84- robot controllers
Software.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of articulated robot dynamic property evaluation system, the articulated robot
3 lower sections are equipped with robot platform 1, and robot platform 1 is equipped with robot controller 2, robot controller 2 and multi-joint machine
People 3 connects, and robot controller 2 is used to control the movement 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 it is strong, as long as articulated robot 3 is seated on robot platform 1, you can arrange the present invention articulated robot dynamic
Energy evaluation system, tests 3 dynamic property of articulated robot.
The concrete composition of articulated robot dynamic property evaluation system provided in an embodiment of the present invention is said below
It is bright.
In the present embodiment, articulated robot dynamic property evaluation system of the invention includes：
Detection platform 4, camera optics holder 5, network interface camera 6, optical target 7 and industrial personal computer 8.
Wherein, detection platform 4 can be set on robot platform 1, for carrying camera optics holder 5.
Further, detection platform 4 can be small-sized marble board, can also be that the higher optics of other flatnesses is flat
Platform, detection platform 4 have higher flatness, can improve number when the dynamic property to articulated robot 3 is tested
According to accuracy.
Camera optics holder 5 is set in detection platform 4, for fixing network interface camera 6.
Camera optics holder 5 may include the montant being fixed in detection platform 4 and the cross bar that is connected with montant, montant
It is connect by a fixing sleeve between cross bar, cross bar one end is 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 of the fixing sleeve on montant
Degree.The length that fixing sleeve can be stretched out by adjusting cross bar, to adjust 6 position in the horizontal direction of network interface camera.
Network interface camera 6 is fixed on camera optics holder 5, and is connect with industrial personal computer 8, for according to the industrial personal computer received
The 8 acquisition image commands sent, acquire the image of optical target 7, image are sent to industrial personal computer 8 later.
Network interface camera 6 is usually million grades of pixels, the same camera lens that configuration matches with high-resolution often, and network interface phase
The use of the Ethernet interface of machine 6 is relatively more universal and Data Transmission Feature is preferable, therefore sexual valence is relatively high.
Optical target 7 is fixed on the end of articulated robot 3, is used for when articulated robot 3 is located at test position,
Mark point is provided 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 in the camera field of detection of network interface camera 6, the target surface of optical target 7 is opposite and parallel with the minute surface of the camera lens of network interface camera 6.
Specifically, the end of articulated robot 3 is fixed with pinboard 30, and optical target 7 is rigidly connected with pinboard 30.
Specifically, optical target 7 includes：Shell 71, is set to shell at the white LED light source plate 72 inside shell 71
The diffusing reflection plate 73 of 71 open ends and the glass target target 74 set on 71 open end of shell and on the outside of diffusing reflection plate 73.
Wherein, the material of shell 71 can be aluminium.
Parallel and spaced a plurality of black scale is printed on glass target target 74, the precision of a plurality of black scale is each
It differs；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 includes with 10 μm for full accuracy
Target, to be consistent with robot product highest repetitive positioning accuracy of the same trade, and lower precision line by line, adapt to different
Required precision can select the black scale of corresponding precision to build mark point according to actual needs.
White LED light source plate 72 can form uniform illumination by diffusing reflection plate 73, and through the glass of glass target target 74
After medium, it is consistent to form in the camera field of detection of network interface camera 6 background luminance with the black scale on glass target target 74,
And the target picture that contrast is extremely strong, to be conducive to the capture of image and structure and the acquisition of succeeding marker point.
Since optical target 7 is imaged in the camera field of detection of network interface camera 6 in a manner of active light, imaging
It is not easily susceptible to the influence of ambient stray light or light and shade field, there is certain luminous environment adaptability.
8 one end of industrial personal computer is connect with robot controller 2, and the other end is connect with network interface camera 6, by Ethernet realize with
Data interaction between robot controller 2 and network interface camera 6.
Industrial personal computer 8 is for before testing, when articulated robot 3 is located at test position, acquisition figure being sent to network interface camera 6
As instruction is to control the image that network interface camera 6 acquires optical target 7, the figure for the optical target 7 that reception is acquired according to network interface camera 6
Picture, and a pixel in image is chosen as mark point, and according to mark point in the camera field of detection of network interface camera 6
Setting coordinate reference coordinate.
Articulated robot 3 is completed multiple test periods under the control of robot controller 2, and industrial personal computer 8 is used for every
In a test period, when articulated robot 3 is located at test position, the acquisition that is sent out according to the robot controller 2 received
Image request sends acquisition image command to control the image that network interface camera 6 acquires optical target 7 to network interface camera 6, receives net
The image that mouth camera 6 acquires, obtains current seat of each test period internal labeling point in the camera field of detection of network interface camera 6
Mark, the generic pixel coordinate difference between calculating benchmark coordinate and each changing coordinates；To according in multiple test periods, move
Correspondence between parameter and coordinate difference, the dynamic property for articulated robot of testing and assessing.
Meanwhile industrial personal computer 8 sends kinematic parameter control instruction in test to robot controller 2, makes multi-joint machine
People 3 completes multiple test periods under the control of robot controller 2, according to the kinematic parameter of setting.
In each test period, articulated robot 3 is moved to test position from initial position by setting path, then passes through
Setting path is crossed from test position correcting action；In each test period, the kinematic parameter of robot controller 2 is different.
When generic pixel coordinate difference between calculating benchmark coordinate and each changing coordinates, the setting method of reference coordinate
Demand is calculated depending on specific potential difference, it can be there are many setting means.
In the present embodiment, when reference coordinate can be that certain articulated robot 3 is located at test position, mark point is in net
An initial coordinate in the camera field of detection of mouthful camera 6 can also be that articulated robot moves to test position more than 3 times
When, the average value of mark point corresponding multiple coordinate in the camera field of detection 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, mark point be chosen in the black scale of corresponding precision.
Specifically, operation has vision positioning software 83 and robot controller software 84 parallel in industrial personal computer 8.
Wherein, vision positioning software 83 through the second network interface 82 with robot controller 2 by ethernet communication, for receiving
The acquisition image request that robot controller 2 is sent out.
Vision positioning software 83, by ethernet communication, is used for according to robot control through the first network interface 81 and network interface camera 6
The acquisition image request that device 2 processed is sent out sends acquisition image command to network interface camera 6, and receives the figure of 6 acquisition of network interface camera
Picture.
Robot controller software 84, by ethernet communication, is used for machine through the second network interface 82 and robot controller 2
Device people 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 when actually setting up
Camera 6 is adjusted.
First, optical target 7 is fixed by pinboard 30 in 3 end of articulated robot, is placed on robot platform 1
Detection platform 4, and using there is the camera optics holder 5 of certain vertical precision to fix network interface camera 6 with detection platform 4, adjust more
The orientation of 3 end of articulated robot makes optical target 7 enter the field of view center of network interface camera 6.
Then, the aperture and focal length of adjustment network interface camera 6, and network interface camera 6 and optics are adjusted by camera optics holder 5
The distance of target 7, while adjusting the brightness of optical target 7 so that optical target 7 is in the camera field of detection of network interface camera 6
Blur-free imaging.
Later, horizontal reference mark is done in the plane of the detection platform 4 using electronic horizontal ruler below network interface camera 6
It is fixed, then electronic horizontal ruler is placed on 30 back side of pinboard, adjust the posture of articulated robot 3 so that optical target 7 and inspection
It surveys platform 4 and keeps horizontal.So far, the primary optical axis of network interface camera 6 and the verticality of optical target 7 have reached mechanical precision.
Finally, then to the focal length and aperture of network interface camera 6 it is finely adjusted, and contrast is apparent on prominent optical target 7
Eigenvector.Since detection platform 4 has higher flatness, and the prudent of itself can effectively absorb articulated robot 3
To micro-vibration caused by detection platform 4 when high-speed mobile, ensure the picture remains stationary of network interface camera 6.
The course of work of the articulated robot dynamic property evaluation system of the present invention is as follows：
Before test, need to build the mark point for representing 3 position of articulated robot using optical target 7, and according to label
Setting coordinate reference coordinate of the point in the camera field of detection of network interface camera 6, is specifically as follows：
Articulated robot 3, which is controlled, by robot controller 2 is moved to test position, it is fixed by the vision of industrial personal computer 8
Position software 83 sends acquisition image command, to control the image that network interface camera 6 acquires optical target 7 to network interface camera 6.
The acquisition image command that network interface camera 6 is sent according to industrial personal computer 8 completes the acquisition to the image of optical target 7, and
Image is sent to the vision positioning software 83 of industrial personal computer 8.
After the vision positioning software 83 of industrial personal computer 8 receives the image of 6 acquisition of network interface camera, a pixel in image is chosen
Point is used as mark point, and when reference coordinate can be set as certain articulated robot 3 and be located at test position, mark point is in network interface phase
An initial coordinate in the camera field of detection of machine 6 can also be set as articulated robot and move to test position more than 3 times
When, the average value of mark point corresponding multiple coordinate in the camera field of detection of network interface camera 6.
It should be noted that during structure mark point, corresponding precision on optical target 7 can be chosen according to actual needs
Black scale then adjust the lens focus and aperture of network interface camera 6 if precision is 10 μm of black scale, adjust network interface
The parameters such as the exposure and gain of camera 6, it is ensured that the black scale that the precision of optical target 7 is 10 μm single pixel on the image
Blur-free imaging in scope can choose a pixel in image as mark point later.
After building the mark point for representing 3 position of articulated robot using optical target 7, can be through the invention
Articulated robot dynamic property evaluation system, tests and assesses to the dynamic property of articulated robot 3.
When test, by the robot controller software 84 of industrial personal computer 8, kinematic parameter control is sent to robot controller 2
System instruction, makes articulated robot 3 under the control of robot controller 2, and multiple tests are completed according to the kinematic parameter of setting
Period.
Specifically, in each test period, articulated robot 3 is moved to test position from initial position by setting path
It sets, using setting path from test position correcting action, to complete one cycle.
Wherein, kinematic parameter may include movement velocity, motor pattern, path point and the movement of articulated robot 3
Acceleration etc., and can be within each test period, by the robot controller software 84 of industrial personal 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 positioning software 83 of industrial personal computer 8 sends acquisition image request.
The acquisition image request that the vision positioning software 83 of industrial personal computer 8 is sent out according to the robot controller 2 received, to
Network interface camera 6 sends acquisition image command.
Network interface camera 6 acquires optics after the acquisition image command that the vision positioning software 83 for receiving industrial personal computer 8 is sent
The image of target 7, and image is sent to the vision positioning software 83 of industrial personal computer 8.
After the vision positioning software 83 of industrial personal computer 8 receives the image of 6 acquisition of network interface camera, obtain in each test period,
Changing coordinates of the mark point in the camera field of detection of network interface camera 6, and between calculating benchmark coordinate and each changing coordinates
Generic pixel coordinate difference, to for produced by kinematic parameter and 3 moving process of articulated robot of articulated robot 3
Coordinate difference between relationship intuitive data are provided.Can by the data of reperformance test, according in multiple test periods,
Correspondence between kinematic parameter and coordinate difference, the dynamic property for articulated robot 3 of testing and assessing, analyzes articulated robot 3
Optimal occupation mode, path planning and speed control when to be moved for subsequent articulated robot 3 provide guidance.
It should be noted that the articulated robot dynamic property evaluation system of the present invention is in actual use, it can basis
The basic framework of system increases the observation point of network interface camera 6, to adapt to specific detection demand.
By above technical scheme it is found that the articulated robot dynamic property evaluation system of the present invention, including network interface camera
6, optical target 7 and industrial personal computer 8；8 mechanism of industry control is coordinated to build camera field of detection using network interface camera 6, in multi-joint machine
3 end of people be rigidly connected optical target 7, by record articulated robot 3 under different motion parameter optical target 7 in camera
Field of detection repeats the mobile changes in coordinates generated, is moved through with articulated robot 3 for the kinematic parameter of articulated robot 3
Relationship in journey between generated coordinate difference provides intuitive data, with the dynamic property for articulated robot 3 of testing and assessing, and can
To pass through the data of reperformance test, the optimal occupation mode of analysis articulated robot 3, to be subsequent multi-joint machine
Path planning and speed control when people 3 moves provide guidance.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the present invention
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes undocumented common knowledge in the art of the invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (9)
1. a kind of articulated robot dynamic property evaluation system, articulated robot (3) lower section is equipped with robot platform
(1), the robot platform (1) is equipped with robot controller (2), the robot controller (2) and the multi-joint machine
Device people (3) connects, which is characterized in that the system comprises network interface camera (6), optical target (7) and industrial personal computers (8)；
The network interface camera (6) connect with the industrial personal computer (8), is adopted for what is sent according to the industrial personal computer (8) received
Collect image command, acquires the image of the optical target (7), described image is sent to the industrial personal computer (8) later；
The optical target (7) is fixed on the end of the articulated robot (3), in the articulated robot (3)
When positioned at test position, mark point is provided for the articulated robot (3)；The test position is located at the network interface camera
(6) surface, when the articulated robot (3) is located at the test position, the optical target (7) is located at the network interface
In the camera field of detection of camera (6), the minute surface phase of the target surface of the optical target (7) and the camera lens of the network interface camera (6)
Pair and it is parallel；
Described industrial personal computer (8) one end is connect with the robot controller (2), and the other end is connect with the network interface camera (6)；Institute
Industrial personal computer (8) is stated to be used for before testing, when the articulated robot (3) is located at the test position, according to the network interface phase
The image of the optical target (7) of machine (6) acquisition chooses a pixel in described image as mark point, and according to
Setting coordinate reference coordinate of the mark point in the camera field of detection of the network interface camera (6)；
The articulated robot (3) is completed multiple test periods under the control of the robot controller (2), the industry control
Machine (8) was used within each test period, when the articulated robot (3) is located at the test position, according to reception
To the acquisition image request that sends out of the robot controller (2), to the network interface camera (6) send acquisition image command with
The image that the network interface camera (6) acquires the optical target (7) is controlled, the image of network interface camera (6) acquisition is received, obtains
Changing coordinates of the mark point in the camera field of detection of the network interface camera (6) in each test period are taken, are counted
Calculate the generic pixel coordinate difference between the reference coordinate and each changing coordinates；To according to the multiple test period
It is interior, the correspondence between kinematic parameter and the coordinate difference, the dynamic property for the articulated robot of testing and assessing；
The industrial personal computer (8) sends kinematic parameter control instruction in test to the robot controller (2), makes more passes
Robot (3) is saved under the control of the robot controller (2), the multiple test week is completed according to the kinematic parameter of setting
Phase, in each test period, the articulated robot (3) is moved to the test from initial position by setting path
Position returns to the initial position using setting path from the test position；In each test period, the machine
The kinematic parameter of people's controller (2) is different.
2. system according to claim 1, which is characterized in that the reference coordinate is certain described articulated robot
(3) when being located at the test position, an initial seat of the mark point in the camera field of detection of the network interface camera (6)
Mark, alternatively, when the reference coordinate repeatedly moves to the test position for the articulated robot (3), the mark point
The average value of corresponding multiple coordinate in the camera field of detection of the network interface camera (6).
3. system according to claim 1, which is characterized in that the end of the articulated robot (3) is fixed with switching
Plate (30), the optical target (7) are rigidly connected with the pinboard (30).
4. system according to claim 1, which is characterized in that the optical target (7) includes：Shell (71) is set to institute
The internal white LED light source plate (72) of shell (71) is stated, the diffusing reflection plate (73) of the shell (71) open end is set to and sets
In the shell (71) open end and the glass target target (74) on the outside of the diffusing reflection plate (73).
5. system according to claim 4, which is characterized in that be printed on the glass target target (74) parallel and mutual
The a plurality of black scale at interval, the precision of a plurality of black scale are different；Full accuracy in the precision is higher than institute
State the nominal full accuracy of articulated robot (3).
6. system according to claim 5, which is characterized in that the white LED light source plate (72) passes through the diffusing reflection
Plate (73) forms uniform illumination, after the glass medium of the glass target target (74), and on the glass target target (74)
Black scale the consistent target picture of background luminance is formed in the camera field of detection of the network interface camera (6).
7. system according to claim 1, which is characterized in that operation has vision positioning soft parallel in the industrial personal computer (8)
Part (83) and robot controller software (84)；
The vision positioning software (83) by ethernet communication, is used through the second network interface (82) and the robot controller (2)
In the acquisition image request that the reception robot controller (2) sends out；
The vision positioning software (83) by ethernet communication, is used for root through the first network interface (81) and the network interface camera (6)
According to the acquisition image request that the robot controller (2) is sent out, acquisition image command is sent to the network interface camera (6), with
And receive the image of network interface camera (6) acquisition；
The robot controller software (84) passes through Ethernet through second network interface (82) and the robot controller (2)
Communication, for sending kinematic parameter control instruction to the robot controller (2).
8. system according to claim 1, which is characterized in that the network interface camera (6) is fixed in detection platform (4),
The detection platform (4) is plane marble board.
9. system according to claim 1, which is characterized in that the kinematic parameter includes the articulated robot (3)
Movement velocity, motor pattern, path point 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 |
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| CN201610787212.8A CN106468572B (en) | 2016-08-30 | 2016-08-30 | Articulated robot dynamic property evaluation system |
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| Publication Number | Publication Date |
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| CN106468572A CN106468572A (en) | 2017-03-01 |
| CN106468572B true CN106468572B (en) | 2018-10-16 |
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| 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 |
| CN109186969B (en) * | 2018-07-28 | 2021-05-28 | 西安交通大学 | Visual detection method for dynamic performance of servo feeding motion |
| CN108801924B (en) * | 2018-08-21 | 2024-04-05 | 歌尔股份有限公司 | Optical test equipment |
| CN110646180B (en) * | 2019-08-27 | 2021-03-02 | 杭州电子科技大学 | Horizontal type soft arthropod robot joint testing device and testing method thereof |
| CN111113486B (en) * | 2019-11-22 | 2023-04-07 | 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 |
| CN111070209B (en) * | 2019-12-27 | 2022-04-15 | 深圳市越疆科技有限公司 | Shaft precision measuring method and device and industrial robot |
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