CN107024197A - robot pose accuracy detecting system based on laser tracking measurement principle - Google Patents
robot pose accuracy detecting system based on laser tracking measurement principle Download PDFInfo
- Publication number
- CN107024197A CN107024197A CN201710313597.9A CN201710313597A CN107024197A CN 107024197 A CN107024197 A CN 107024197A CN 201710313597 A CN201710313597 A CN 201710313597A CN 107024197 A CN107024197 A CN 107024197A
- Authority
- CN
- China
- Prior art keywords
- pose
- robot
- laser tracking
- tracking measurement
- main controller
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of robot pose accuracy detecting system based on laser tracking measurement principle that the present invention is provided, including robot, executing agency and laser tracking measurement instrument, executing agency is fixedly mounted in robot constitutes an entirety with robot, executing agency end is installed on reflector, reflector receives the laser that laser tracking measurement instrument is sent, and the laser of reflection is back on laser tracking measurement instrument；Also include main controller, main controller, robot and executing agency are according to being sequentially connected, the action of main controller control machine people, laser tracking measurement instrument is used for the pose for measuring executing agency's end-reflector, and by measurement feedback to main controller, input module is also associated with main controller, input module is used to input object pose, and main controller calculates the deviation between measurement pose and object pose.Due to laser diversity very little, laser tracking measurement instrument range accuracy is high, and the accuracy of detection of robot pose accuracy is high.
Description
Technical field
The present invention relates to robot performance's detection technique field, the robot pose of laser tracking measurement principle is specifically based on
Degree of accuracy detecting system.
Background technology
Robot is quickly grown, and is widely used in all trades and professions, using outstanding especially in modern automation field
For protrusion, to the performance requirement more and more higher of robot.The most key several technical indicators of robot be robot pose,
Distance and the degree of accuracy of track, and this several performance indications are attached most importance to the degree of accuracy of pose, its concentrated expression robot
The control ability of electromechanical properties and movement locus.Therefore, detection to robot pose and its important.
The content of the invention
For defect of the prior art, it is accurate that the present invention provides a kind of robot pose based on laser tracking measurement principle
Exactness detecting system, the pose of executing agency's end-reflector is measured by laser tracking measurement instrument, and main controller compares measurement position
Deviation between appearance and object pose, is capable of detecting when the pose accuracy of robot.
A kind of robot pose accuracy detecting system based on laser tracking measurement principle that the present invention is provided, including machine
Device people, executing agency and laser tracking measurement instrument, executing agency is fixedly mounted in robot constitutes an entirety with robot,
Executing agency end is installed on reflector, and reflector receives the laser that laser tracking measurement instrument is sent, and the laser of reflection is anti-
It is emitted back towards on laser tracking measurement instrument；
Also include main controller, main controller, robot and executing agency are according to being sequentially connected, and the action of main controller control machine people swashs
Light tracking measurement instrument is used to measuring the pose of executing agency's end-reflector, and by measurement feedback to main controller, main controller
On be also associated with input module, input module is used to input object pose, and main controller is calculated between measurement pose and object pose
Deviation.
Further, pose compensator is also associated between main controller and robot, pose compensator is according to main controller meter
The deviation control machine human action of calculation, carries out pose accuracy compensation.
Further, counter is connected with master controller, counter reaches for statistical machine people executing agency end
Object pose need to carry out the number of times of pose accuracy compensation.
Further, timer is connected with master controller, the timer record robot is from action is started to stopping
Act the time consumed altogether.
Further, it is connected with memory on master controller.
Further, it is connected with display on master controller.
As shown from the above technical solution, beneficial effects of the present invention：
1st, the present invention provides a kind of robot pose accuracy detecting system based on laser tracking measurement principle, including machine
People, executing agency and laser tracking measurement instrument, executing agency is fixedly mounted in robot constitutes an entirety with robot, holds
Row mechanism end is installed on reflector, and reflector receives the laser that laser tracking measurement instrument is sent, and the laser of reflection is returned
To laser tracking measurement instrument；Also include main controller, main controller, robot and executing agency are according to being sequentially connected, and main controller is controlled
The action of robot, laser tracking measurement instrument is used to measuring the pose of executing agency's end-reflector, and by measurement feedback
To main controller, input module is also associated with main controller, input module is used to input object pose, and main controller calculates measurement pose
Deviation between object pose.Due to laser diversity very little, laser tracking measurement instrument range accuracy is high, and robot pose is accurate
The accuracy of detection of exactness is high.
2nd, the present invention provides a kind of robot pose accuracy detecting system based on laser tracking measurement principle, main controller
It is also associated with pose compensator between robot, the deviation control machine human action that pose compensator is calculated according to main controller,
Carry out pose accuracy compensation.By counting the number of times that pose accuracy is compensated and the data that pose accuracy is compensated each time, further
Improve the accuracy of detection of robot pose accuracy.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is general by similar reference mark.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 shows for a kind of structure of the robot pose accuracy detecting system based on laser tracking measurement principle of the present invention
It is intended to.
Fig. 2 is reflector in a kind of robot pose accuracy detecting system based on laser tracking measurement principle of the present invention
Structural representation.
Fig. 3 shows for a kind of principle of the robot pose accuracy detecting system based on laser tracking measurement principle of the present invention
It is intended to.
Reference：
1- robots, 2- executing agencies, 3- laser tracking measurement instrument, 4- reflection units, 41- reflective mirrors, 42- supports, 43- spiral shells
Nail.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be only used as example, and the protection model of the present invention can not be limited with this
Enclose.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
Fig. 1 to Fig. 3 is referred to, a kind of robot pose based on laser tracking measurement principle that the present embodiment is provided is accurate
Spend detecting system, including robot, executing agency and laser tracking measurement instrument, executing agency be fixedly mounted in robot with
Robot constitutes an entirety, and executing agency end is installed on reflector, and what reflector reception laser tracking measurement instrument was sent swashs
Light, and the laser of reflection is back on laser tracking measurement instrument.Reflector includes reflective mirror, support and screw, and support is U-shaped
Structure, reflective mirror is installed in pedestal lower end, and pedestal upper end is respectively arranged on the left side and the right side tapped through hole, and screw will by tapped through hole
Support is fixed in robot.
Also include main controller, main controller, robot and executing agency are according to being sequentially connected, and main controller control machine people's is dynamic
Make, laser tracking measurement instrument is used to measuring the pose of executing agency's end-reflector, and by industry local network by measurement
Pose result is transmitted to main controller, and main controller calculates the deviation between measurement data and gross data.Inputted by input module
Object pose, and coordinate system is built, the position of object pose is that laser tracking measurement instrument measures each executing agency's end reflection
The position of device, record coordinate be, main controller calculate respectively and between deviation, i.e.,.
It is also associated between main controller and robot after the completion of pose compensator, robot localization, laser tracking measurement instrument
The position of executing agency's end-reflector is measured, main controller is according to the deviation calculated between measurement pose and object pose, master control
Device control pose compensator work.The side that the deviation planning robot executing agency that pose compensator is calculated according to main controller moves
To and displacement, and control machine human action, carry out pose accuracy compensation.Position after first time accuracy compensation is.If for the first time
Pose deviation meets technological requirement after accuracy compensation, and accuracy compensation stops；If pose deviation exceeds technological requirement, need to machine
The pose of device people proceeds accuracy compensation.Pose compensator is microcomputer.
Memory, counter, display and timer, memory record laser tracking measurement instrument are connected with master controller
The departure that the pose each time and main controller of measurement are calculated, counters count robot actuating mechanism end reaches object pose
The number of times of pose accuracy compensation need to be carried out.Display shows that the pose each time and main controller of laser tracking measurement instrument measurement are calculated
Departure, and counters count pose accuracy compensation number of times.Timer record robot is dynamic to stopping from action is started
Make the time consumed altogether.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (6)
1. a kind of robot pose accuracy detecting system based on laser tracking measurement principle, it is characterised in that：Including machine
People, executing agency and laser tracking measurement instrument, the executing agency be fixedly mounted in robot with robot constitute one it is whole
Body, the executing agency end is installed on reflector, and the reflector receives the laser that laser tracking measurement instrument is sent, and will be anti-
The laser reflection penetrated is returned on laser tracking measurement instrument；
Also include main controller, the main controller, robot and executing agency according to being sequentially connected, the main controller control machine people's
Action, the laser tracking measurement instrument is used to measuring the pose of executing agency's end-reflector, and by measurement feedback to master
Control and input module is also associated with device, the main controller, the input module is used to input object pose, and the main controller is calculated
Measure the deviation between pose and object pose.
2. the robot pose accuracy detecting system according to claim 1 based on laser tracking measurement principle, it is special
Levy and be：Pose compensator is also associated between the main controller and robot, the pose compensator is calculated according to main controller
Deviation control machine human action, carry out pose accuracy benefit.
3. the robot pose accuracy detecting system according to claim 2 based on laser tracking measurement principle, it is special
Levy and be：Counter is connected with the master controller, the counter reaches mesh for statistical machine people executing agency end
Mark appearance need to carry out the number of times of pose accuracy compensation.
4. the robot pose accuracy detecting system according to claim 3 based on laser tracking measurement principle, it is special
Levy and be：Timer is connected with the master controller, the timer record robot is total to stopping action from action is started
The time consumed altogether.
5. the robot pose accuracy detecting system according to claim 4 based on laser tracking measurement principle, it is special
Levy and be：Memory is connected with the master controller.
6. the robot pose accuracy detecting system according to claim 5 based on laser tracking measurement principle, it is special
Levy and be：Display is connected with the master controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313597.9A CN107024197A (en) | 2017-05-05 | 2017-05-05 | robot pose accuracy detecting system based on laser tracking measurement principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313597.9A CN107024197A (en) | 2017-05-05 | 2017-05-05 | robot pose accuracy detecting system based on laser tracking measurement principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107024197A true CN107024197A (en) | 2017-08-08 |
Family
ID=59528416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710313597.9A Pending CN107024197A (en) | 2017-05-05 | 2017-05-05 | robot pose accuracy detecting system based on laser tracking measurement principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107024197A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623156A (en) * | 2019-01-07 | 2019-04-16 | 上海航天精密机械研究所 | The complex-curved welding edge dynamic slave laser sweep-out method of space flight, system and medium |
| CN111336969A (en) * | 2020-03-27 | 2020-06-26 | 伯朗特机器人股份有限公司 | Method for measuring multi-direction pose accuracy variation in industrial robot pose characteristics |
| CN109738213B (en) * | 2019-02-03 | 2020-10-02 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection pose detection system and method |
| CN111856444A (en) * | 2020-07-30 | 2020-10-30 | 重庆市计量质量检测研究院 | UWB-based multi-target positioning tracking method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1221500A (en) * | 1996-06-06 | 1999-06-30 | 波音公司 | Method for improving accuracy of machines |
| JP2000162307A (en) * | 1998-11-30 | 2000-06-16 | Mitsubishi Heavy Ind Ltd | Laser tracking apparatus for locating position of reactor vessel-inspecting robot |
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN104646799A (en) * | 2015-02-04 | 2015-05-27 | 北京石油化工学院 | Laser tracker-based arc tracking testing system and l laser tracker-based arc tracking testing method |
| CN105834735A (en) * | 2016-04-19 | 2016-08-10 | 北京航空航天大学 | Automatic part assembling method based on laser tracker |
-
2017
- 2017-05-05 CN CN201710313597.9A patent/CN107024197A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1221500A (en) * | 1996-06-06 | 1999-06-30 | 波音公司 | Method for improving accuracy of machines |
| JP2000162307A (en) * | 1998-11-30 | 2000-06-16 | Mitsubishi Heavy Ind Ltd | Laser tracking apparatus for locating position of reactor vessel-inspecting robot |
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN104646799A (en) * | 2015-02-04 | 2015-05-27 | 北京石油化工学院 | Laser tracker-based arc tracking testing system and l laser tracker-based arc tracking testing method |
| CN105834735A (en) * | 2016-04-19 | 2016-08-10 | 北京航空航天大学 | Automatic part assembling method based on laser tracker |
Non-Patent Citations (2)
| Title |
|---|
| 徐进军: "《工业测量技术与数据处理》", 28 February 2014 * |
| 齐庆国、刘晓玲: "《机电一体化系统设计》", 31 January 2015 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623156A (en) * | 2019-01-07 | 2019-04-16 | 上海航天精密机械研究所 | The complex-curved welding edge dynamic slave laser sweep-out method of space flight, system and medium |
| CN109738213B (en) * | 2019-02-03 | 2020-10-02 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection pose detection system and method |
| CN111336969A (en) * | 2020-03-27 | 2020-06-26 | 伯朗特机器人股份有限公司 | Method for measuring multi-direction pose accuracy variation in industrial robot pose characteristics |
| CN111856444A (en) * | 2020-07-30 | 2020-10-30 | 重庆市计量质量检测研究院 | UWB-based multi-target positioning tracking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024197A (en) | robot pose accuracy detecting system based on laser tracking measurement principle | |
| Hong et al. | Non-contact R-test with laser displacement sensors for error calibration of five-axis machine tools | |
| CN103968789B (en) | Dynamical monitoring of a coordinate measuring machine using recursive filtering | |
| CN103968766B (en) | Dynamical monitoring and modeling of a coordinate measuring machine | |
| US20190011327A1 (en) | Cnc machine geometry error and accuracy monitoring and evaluation | |
| CN210346614U (en) | Calibration system for laser alignment receiving and transmitting integrated straightness accuracy measurement | |
| CN110455226B (en) | Calibration system and method for laser collimation transceiving integrated straightness measurement | |
| CN104070418B (en) | Axial symmetry surface shape of optical aspheric surface On-line Measuring Method | |
| CN102095806A (en) | Nonmetal ultrasonic detector verification system | |
| CN110977980A (en) | Mechanical arm real-time hand-eye calibration method and system based on optical position indicator | |
| CN107102315B (en) | A kind of laser range finder calibration method | |
| US7610162B2 (en) | Method and machine for determining a space coordinate of a measurement point on a measurement object | |
| CN110456730A (en) | Collision avoidance system and method for double five axis mirror images milling equipment | |
| CN108375352A (en) | The method of adjustment of two plan-positions based on the depth of parallelism, apparatus and system | |
| CN206945968U (en) | Robot pose detection device based on laser tracking measurement principle | |
| CN107388993A (en) | A kind of method and system of two face perpendicularity of test object | |
| US2517264A (en) | Measuring device | |
| CN106979750A (en) | A kind of method for fast measuring and its device of lathe translation shaft geometric error | |
| CN209491778U (en) | Integral type robot zero-bit three-dimensional pose calibration system | |
| CN208721299U (en) | A kind of tension on-line checking instrument and meter frame | |
| CN208520337U (en) | A kind of optical lever measuring device | |
| CN206724902U (en) | Laser optical lever measurement apparatus | |
| Ma et al. | A large-scale laser plane calibration system | |
| CN102692172B (en) | Non-contact height measuring scale | |
| CN204819255U (en) | Modular frock is fixed to magnetism ball seat |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170808 |