CN109093650A - A kind of Robotic Dynamic characteristic measurement method and system, device - Google Patents
A kind of Robotic Dynamic characteristic measurement method and system, device Download PDFInfo
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- CN109093650A CN109093650A CN201811115812.5A CN201811115812A CN109093650A CN 109093650 A CN109093650 A CN 109093650A CN 201811115812 A CN201811115812 A CN 201811115812A CN 109093650 A CN109093650 A CN 109093650A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention belongs to robotic technology field, a kind of Robotic Dynamic characteristic measurement method and system, device are disclosed, one piece of region to be determined delimited in robot working space, arranges measuring point in the area, and be numbered；Robot is moved to each measuring point and carries out exciting vibration, collects excitation and response signal data；By excitation and response signal data, the frequency response function of robot end is obtained；Dynamic characteristic testing index is extracted from robot end's frequency response function, draws index curve graph.The implementation steps of the invention is simple, easy to operate, can quickly be measured to the dynamic characteristic of robot；Measuring method of the invention can rapidly and accurately assess Robotic Dynamic performance, and experimental facilities requirement is low, can provide reference for robot type selecting, track optimizing, process parameter optimizing etc..
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of Robotic Dynamic characteristic measurement method and system, dress
It sets.
Background technique
With the development of technology, compared to traditional numerically-controlled machine tool, industrial robot is at low cost, high-efficient, flexible because of its
Property the advantages such as good and working region is big, be more and more widely used in being machined manufacturing.But due to machine
People's rigidity is poor, in process by Dynamic Loading when by occur forced vibration even there is chatter phenomenon, substantially
Processing quality is reduced, the reduction robot service life even damages robot architecture.Therefore, it is answered for bearing the robot of dynamic load
With needing the quick testing index and method of a kind of pair of Robotic Dynamic characteristic.
Existing research person proposes robot related performance indicators and its measuring method at present, such as utilizes Jacobian matrix
Conditional number mensuration machine people's flexibility utilize machine using the acceleration performance of dynamic operability ellipsoid mensuration machine people
Conditional number mensuration machine people's rigidity of people's end poing rigidity matrix.However, these technical methods, which are all based on robot, is in zero load
It is measured under the action of lotus or static load, when end effector of robot is in Dynamic Loading, These parameters
It cannot be used for mensuration machine people's dynamic property with method.The difficulty of mensuration machine people's dynamic property is: when robot is born
When dynamic load (such as processing, cutting), the dynamic characteristic of caused forced vibration bears the machine of static load more than other
People's job task (as carried, picking up) wants the more of complexity.The dynamic characteristic of robot is not only related to its pose, additionally depends on outer
Power direction and frequency.
The common method for determining Robotic Dynamic characteristic is the frequency response by vibration test robot measurement end
Function, the function describe the robot end caused by the dynamic force of assigned direction in the direction indicated and vibrate spy
Property.However, Robotic Dynamic Property comparison is complicated and related to Impact direction, for different robot applications, end is made
Power thrusts and caused direction of vibration often it is difficult to predict.Therefore, frequency response function is for mensuration machine people's dynamic
The reference value of performance is than relatively limited.
In conclusion problem of the existing technology include: (1) in the prior art, frequency response function is often directed to system
Determine task, for mensuration machine people's dynamic property reference value than relatively limited, cannot effectively reflect that robot overall dynamics are special
Property, to robot end, issuable vibration amplitude not can be carried out Accurate Determining under the effect of different directions stress.(2) existing
Robot performance's testing index and method are limited only to that robot is not loaded or institute is loaded for static load, are not suitable for moving
The case where state load.(3) limitation, the scope of application are compared in requirement of the existing robot performance's determination techniques to robot manipulating task type
It is narrow.
The difficulty for solving above-mentioned technical problem is: need to carry out complicated robot vibration mechanism study, required vibration is surveyed
Time-consuming, data volume is big for examination, and is difficult to carry out vibration-testing under external force direction uncertain condition, these use robot
Family was difficult to rapidly judge the technique requirement whether Robotic Dynamic performance can satisfy project in the project feasibility analysis phase.
A quality requirement whether robot meets the operation of Mr. Yu's robot manipulating task is assessed, more specifically whether is met pair
No matter the requirement of robot end's forced vibration all has practical significance for robot manufacturer or robotic user.Cause
This, in summary problem and demand need to establish a set of effective ways for capableing of quickly and easily mensuration machine people dynamic characteristic
And system, device.Above-mentioned technical problem is solved, guidance machine people user progress robot type selecting is beneficial to and machined parameters is excellent
Change, to improve processing quality and extend the robot service life, secondly, Robotic Dynamic performance can also be provided for robot manufacturer
Evaluation criterion and method, important data reference is provided for robot prototype.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of Robotic Dynamic characteristic measurement method and system,
Device.The present invention is to propose new robot performance's evaluation index based on exciting vibration result, has then carried out existing machine
The irrealizable dynamic property measurement of device people's index and evaluation.
The invention is realized in this way a kind of Robotic Dynamic characteristic measurement method, the Robotic Dynamic characteristic measurement
Method includes:
Step 1 delimit region to be measured in robot working space, measuring point arranged in the region, and compiled
Number；
Robot is moved to each measuring point and carries out exciting, collects excitation and response signal data by step 2；
Step 3 obtains the frequency response function of robot end by excitation and response signal data；
Step 4 extracts dynamic characteristic testing index from robot end's frequency response function, draws index curve graph.
Further, step 1 specifically includes:
Measuring point is uniformly distributed according to the space characteristics in measurement region；Number is from 1 to n, and wherein n is greater than 10.
Further, step 2 specifically includes:
Vibrational excitation point is set on robot end, and three mutually perpendicular X, Y, Z-directions are set；
Response measurement point is set on robot end, and three mutually perpendicular x, y, z directions are set, in each direction
Upper installation vibratory response sensor；
Preferably, be mutually perpendicular to X, Y, Z-direction and response measurement point three of three of vibrational excitation point be mutually perpendicular to x,
Y, the direction z selects global coordinate system change in coordinate axis direction；
Robot end is motivated from X-direction, acquires the response signal number in three directions of pumping signal and corresponding x, y, z
According to；Similarly, robot end is motivated from Y, Z-direction respectively, and acquires the response letter in pumping signal and corresponding x, y, z direction
Number；
Similarly, robot is moved to other measuring points, corresponding excitation and response signal is collected to each measuring point,
And record related assays dot position information and robot joint angles information.
Further, step 3 specifically includes: excitation and response signal data to each group carry out signal processing, acquire each
The frequency response function in direction, and the robot end's frequency response function matrix H (ω) being configured as:
Each component in formula (1) refers to the frequency response function for being activated to from certain direction and responding on certain direction, such as
hyX(ω) indicates that the frequency response function that y directional response is activated to from X-direction, each component change with frequency.If necessary to survey
Fixed frequency includes m frequency values (ω1,ω2,…,ωm), then the H (ω) includes m 3 × 3 complex matrix.
Further, step 4 specifically includes: it is obtained by the frequency response function:
R=HF (2)
Wherein R indicates the vibratory response of robot end, and F indicates the external force excitation of robot end, H representation formula (1)
In frequency response function H (ω)；Formula (2) is obtained by further transformation:
RHR=FHHHHF (3)
The conjugate transposition of subscript H representing matrix in above formula；Formula (3) is further converted to:
Molecule indicates robot end's vibration amplitude on the left of formula (4) | R | square, denominator indicates external force amplitude | R |
Square, matrix M is equivalent in right side:
M=HHH (5)
And following formula is set up:
λ in formula (6)minAnd λmaxIt is the minimum and maximum characteristic value of matrix M respectively.Robot can be obtained by formula (6)
The ratio of tip vibration amplitude and suffered external force amplitude | R |/| F | range it is as follows:
The ratio | R |/| F | robot end's vibration amplitude size when dynamic external force amplitude is unit power is described,
Its minimum value and maximum value are write as:
V in formula (8)minAnd vmaxIt is matrix M respectively about λminAnd λmaxFeature vector.It is outer suffered by the robot end
Power F is equal to vminWhen, ratio | R |/| F | obtain minimum value；The external force F suffered by the robot end is equal to vmaxWhen, ratio | R |/| F |
Maximum value is obtained, i.e., robot end's generated Oscillation Amplitude under the dynamic force effect of identical amplitude is maximum at this time；Using
Dynamic property of the following index k evaluation robot under the measurement pose:
The index k is the conservative estimation of the ratio size to robot end's vibration amplitude Yu suffered external force amplitude,
When physical significance indicates that robot is in the measuring point pose, the ratio of tip vibration amplitude and suffered external force amplitude is in specified frequency
Lower attainable maximum value of rate；
Frequency response function is sought by the excitation and response signal data of each measuring point, extracts index k respectively1, k2,
k3……kn, and it is averaged K:
The average value K indicates tip vibration amplitude and suffered external force amplitude ratio of the robot in measurement region | R |/
| F | maximum value the overall evaluation, average value K as robot measurement region overall dynamics characteristic measurement index.
Another object of the present invention is to provide a kind of computer journeys for realizing the Robotic Dynamic characteristic measurement method
Sequence.
Another object of the present invention is to provide a kind of information datas for realizing the Robotic Dynamic characteristic measurement method
Processing terminal.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the Robotic Dynamic characteristic measurement method.
It is dynamic that another object of the present invention is to provide a kind of robots for realizing the Robotic Dynamic characteristic measurement method
Step response measures control system.
It is dynamic that another object of the present invention is to provide a kind of robots for realizing the Robotic Dynamic characteristic measurement method
Step response measurement device, the Robotic Dynamic characteristic detecting apparatus are provided with
Robot；
Vibratory response sensor is installed on robot end；
The excitational equipment of exciting is carried out on robot end；
Vibratory response sensor, excitational equipment connect data collection system by data line；
Data collection system connects computer by data line；
Computer calculates and dynamic output characteristics testing index.
Advantages of the present invention and good effect are as follows:
The present invention provides a kind of Robotic Dynamic characteristic measurement method.The deformation of robot is directly proportional to its stress size,
Therefore, the present invention is based on frequency response functions, propose the ratio model of a kind of robot end's vibration amplitude and suffered external force amplitude
The calculation method enclosed, to robot, generated maximum end Oscillation Amplitude carries out quantitative assessment under unit dynamic force, can
Mensuration machine people end issuable vibration amplitude range under the effect of different directions stress.The Robotic Dynamic characteristic is surveyed
It is simple to determine method implementation steps, it is easy to operate, quickly the dynamic characteristic of robot can be measured；The Robotic Dynamic
Characteristic measurement method is applied widely, is applicable to bear the robot of dynamic load；The Robotic Dynamic characteristic measurement refers to
Mark is unrelated with the external environment of robot, loadtype, homework type etc., is a kind of and robot pose and external force frequency
Related build-in attribute parameter；The Robotic Dynamic characteristic measurement index can be quickly obtained by exciting vibration, experiment
Equipment requirement is low；The Robotic Dynamic characteristic measurement index can rapidly and accurately assess Robotic Dynamic performance, Neng Gouwei
Robot Design, type selecting, pose refinement, process parameter optimizing etc. provide significant data reference.
Detailed description of the invention
Fig. 1 is Robotic Dynamic characteristic measurement method flow diagram provided in an embodiment of the present invention.
Fig. 2 is Robotic Dynamic characteristic detecting apparatus figure provided in an embodiment of the present invention.
In figure: 210, robot；220, planar rectangular measures region；230,3-axis acceleration sensor；240, exciting is set
It is standby；250, data collection system；260, computer；270, global coordinate system.
Fig. 3 is the testing index curve graph that implementation method extracts according to the present invention.
In figure: 300, testing index curve.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
In the prior art, frequency response function for assess Robotic Dynamic performance reference value than relatively limited, cannot
Effective mensuration machine people's dynamic characteristic is unable to mensuration machine people end issuable vibration width under the effect of different directions stress
Value.
In the present invention, implementation steps are simple, easy to operate, can quickly be measured to the dynamic characteristic of robot；Institute
It is unrelated with robot external environment, loadtype, homework type to state dynamic characteristic testing index, be it is a kind of only and robot pose
With the build-in attribute parameter of external force frequency dependence；The testing index can be quickly obtained by exciting vibration, experimental facilities requirement
It is low；The testing index can rapidly and accurately evaluate Robotic Dynamic performance, can be robot type selecting, track optimizing, technique ginseng
The offers references such as number optimization.
The invention will be further described combined with specific embodiments below.
Fig. 1 is Robotic Dynamic characteristic measurement method provided in an embodiment of the present invention, comprising:
S101: one piece of region to be determined delimited in robot working space, arranges measuring point in the area, and carry out
Number；
S102: robot is moved to each measuring point and carries out exciting vibration, collects excitation and response signal data；
S103: by excitation and response signal data, the frequency response function of robot end is obtained；
S104: extracting dynamic characteristic testing index from robot end's frequency response function, draws index curve graph.
Each step of Robotic Dynamic characteristic measurement method is described in detail below:
Step S101: delimiting one piece of region to be determined in robot working space, arrange measuring point in the area, and
It is numbered.
Dynamic characteristic measurement region is different and variant because robot and its application, needs according to robot
Common working region or the characteristics of being directed to a certain operation selected measurement region.Dynamic characteristic measurement region must assure that
In robot working space, entire working space is also may be selected in a part in selectively operating space.Preferably, the survey
Point need to be uniformly distributed according to the space characteristics in measurement region.The measuring point quantity is unsuitable very few, such as numbers from 1 to n, wherein
N suggests being greater than 10.The measuring point spacing distance should not be too large.
Step S102: it moves the robot into each measuring point and carries out exciting vibration, collect excitation and response signal data.
Arrangement installation exciting vibration measuring system includes excitational equipment and vibratory response sensor, configures measurement parameter, into
The line of row data collection system and setting.The optional type of the excitational equipment includes exciting force hammer and vibration excitor.The vibration
The optional type of dynamic response sensor includes displacement sensor, velocity sensor, acceleration transducer；The vibratory response sensing
The optional measurement number of axle of device includes single-axis sensors and three-axis sensor；Preferably, the vibratory response sensor is added using three axis
Velocity sensor.The data collection system provides data acquisition and the data processing function of vibration signal.In robot end
Upper setting vibrational excitation point, and provide three mutually perpendicular directions, i.e. X, Y, Z-direction.Response is set on robot end
Measurement point, and provide three mutually perpendicular directions, i.e. x, y, z direction, vibratory response sensor is installed in each direction.It is excellent
Selection of land, three mutually perpendicular directions (X, Y, Z-direction) of vibrational excitation point and response measurement point three mutually perpendicular directions (x,
Y, the direction z) it is selected as global coordinate system change in coordinate axis direction.
The measuring point of number 1 is moved the robot into, if robot there are multiple postures available, selects common posture.
Robot end is motivated from X-direction, acquires the response signal data in three directions of pumping signal and corresponding x, y, z.Similarly,
Robot end is motivated, and acquires the response signal data of pumping signal and corresponding x, y, z direction from Y, Z-direction respectively.Class
As, robot is moved to other measuring points, and (number 2 arrives number n), collects corresponding excitation and response to each measuring point
Signal, and record related assays dot position information and robot joint angles information.
Step S103: the frequency response function of robot end is obtained by excitation and response signal data.
Excitation and response signal data to each group carry out signal processing, acquire the frequency response function of all directions, and
The robot end's frequency response function matrix H (ω) being configured as:
Each component in formula (1) refers to the frequency response function for being activated to from certain direction and responding on certain direction, such as
hyX(ω) indicates that the frequency response function that y directional response is activated to from X-direction, each component change with frequency.If necessary to survey
Fixed frequency includes m frequency values (ω1,ω2,…,ωm), then the H (ω) includes m 3 × 3 complex matrix.
Step S104: by robot end's frequency response function extraction and determination index, index curve graph is drawn.
Firstly, being obtained by the frequency response function:
R=HF (2)
Wherein R indicates the vibratory response of robot end, and F indicates the external force excitation of robot end, H representation formula (1)
In frequency response function H (ω).Formula (2) is obtained by further transformation:
RHR=FHHHHF (3)
The conjugate transposition of subscript H representing matrix in above formula.Formula (3) can be further converted to:
Molecule indicates robot end's vibration amplitude on the left of formula (4) | R | square, denominator indicates external force amplitude | R |
Square, matrix M is equivalent in right side:
M=HHH (5)
And following formula is set up:
λ in formula (6)minAnd λmaxIt is the minimum and maximum characteristic value of matrix M respectively.Robot can be obtained by formula (6)
The ratio of tip vibration amplitude and suffered external force amplitude | R |/| F | range it is as follows:
The ratio | R |/| F | robot end's vibration amplitude size when dynamic external force amplitude is unit power is described,
Its minimum value and maximum value can be write as:
V in formula (8)minAnd vmaxIt is matrix M respectively about λminAnd λmaxFeature vector.It is outer suffered by the robot end
Power F is equal to vminWhen, ratio | R |/| F | obtain minimum value；The external force F suffered by the robot end is equal to vmaxWhen, ratio | R |/| F |
Maximum value is obtained, i.e., robot end's generated Oscillation Amplitude under the dynamic force effect of identical amplitude is maximum at this time.Using
Dynamic property of the following index k evaluation robot under the measurement pose:
The index k is the conservative estimation of the ratio size to robot end's vibration amplitude Yu suffered external force amplitude,
When its physical significance indicates that robot is in the measuring point pose, the ratio of tip vibration amplitude and suffered external force amplitude is specified
Lower attainable maximum value of frequency.
Frequency response function is sought by the excitation and response signal data of each measuring point, extracts index k respectively1, k2,
k3……kn, and take its average value K:
The average value K indicates tip vibration amplitude and suffered external force amplitude ratio of the robot in measurement region | R |/
| F | maximum value the overall evaluation, the average value K can be used as robot and refers in the overall dynamics Characteristics Detection of detection zone
Mark.
External force frequency suffered by the testing index random device people end changes and changes.It is corresponding calculating a series of frequencies
Testing index value after, testing index is depicted as curve varying with frequency.The curve can be used for Observe and measure index with
The characteristic of frequency variation, can be used for telling the sensitive frequency of robot vibration, mention for the technological parameter selection of robot application
For reference.
The testing index k can be used as Robotic Dynamic characterisitic parameter index, be one build-in attribute parameter of robot,
Size is only and robot pose and dynamic load frequency dependence, unrelated with robot external environment, payload size, homework type；
The extraction and determination refers to that calibration method can be used for standardized Robotic Dynamic characteristic measurement method.
The present invention will be further described below with reference to examples.
Embodiment 1
It is referring to Fig.1 the flow diagram of the Robotic Dynamic characteristic measurement method of embodiment of the present invention, the robot
Dynamic characteristic measuring method includes:
Step 1 delimit one piece of region to be measured in robot working space, arrange measuring point in the area, and carry out
Number.
Referring to Fig. 2 Robotic Dynamic characteristic detecting apparatus case study on implementation schematic diagram provided in an embodiment of the present invention, in machine
One piece of planar rectangular region 220 is chosen in 210 working space of people as measurement region, which is certain of robot manipulating task
Plane.It is uniformly distributed 25 measuring points in a manner of 5 × 5 in rectangle measurement region, measuring point is numbered, and record survey
Fixed position information.
Step 2 moves the robot into each measuring point progress exciting vibration, collects excitation and response signal data.Specifically
It is as follows:
Referring to the case study on implementation schematic diagram in Fig. 2, arrangement installation exciting vibration measuring system configures measurement parameter, this reality
It applies case and vibratory response sensor is used as using 3-axis acceleration sensor 230, excitational equipment is used as using power hammer 240.It completes
The line and setting of vibratory response sensor 230, excitational equipment 240 and data collection system 250 and computer 260.
After the completion of preparation, move the robot into number be 1 measuring point, if robot have multiple postures for
Selection selects common posture.Using the X-axis of global coordinate system 270, Y-axis, Z-direction as vibrational excitation direction and response measurement
Direction, and bearing mark is performed on robot end.Robot end is motivated from X-direction, acquisition pumping signal and corresponding
X, Y, Z-direction response signal data.Similarly, respectively from Y, Z-direction motivate robot end, and acquire pumping signal and
The response signal data of corresponding X, Y, Z-direction.
Similarly, other measuring points are moved the robot into, excitation and response signal are collected to each measuring point, and record
Related assays dot position information and robot joint angles information.
Step 3 obtains the frequency response function of robot end by excitation and response signal data.Specific method is such as
Under:
Excitation and response signal data to each group carry out signal processing, acquire the frequency response function of all directions, and
It is configured to robot end's frequency response function matrix H (ω) as described in formula (1).The complex matrix changes with frequency and is become
Change, if the frequency values of measurement are (ω1,ω2,…,ωm), then the H (ω) includes m 3 × 3 complex matrix.
Certain point is when frequency is 25Hz such as in the implementation case:
Certain point is when frequency is 50Hz such as in the implementation case:
Step 4 passes through robot end's frequency response function extraction and determination index, drafting index curve graph.Specific method
It is as follows:
Following matrix is constructed by the frequency response function H (ω):
M=HHH
Obtain the maximum eigenvalue λ of matrix Mmax, and it is dynamic under the measurement pose using following index k mensuration machine people
State property energy:
When the index expression robot is in the pose, tip vibration amplitude and the ratio of suffered external force amplitude are referring to
Determine lower attainable maximum value of frequency.For example, for the frequency response function that certain above-mentioned point obtains, when frequency is 30Hz, meter
Obtained index k is 0.0111g/N；When frequency is 50Hz, the index k being calculated is 0.0147g/N.
Frequency response function is sought by the excitation and response signal data of each point, extracts index k respectively1, k2,
k3……k25, and acquire overall dynamics performance indicator of the average value as measurement region, it may be assumed that
With reference to the testing index curve graph in Fig. 3, the corresponding testing index of each frequency of robot is found out, and is depicted as index
Curve graph 300.
In the above-described embodiments, it can be realized wholly or partly by software, hardware, firmware or any combination thereof.
When using entirely or partly realizing in the form of a computer program product, the computer program product includes one or more
Computer instruction.When loading on computers or executing the computer program instructions, entirely or partly generate according to this hair
Process described in bright embodiment or function.The computer can be general purpose computer, special purpose computer, computer network or
Other programmable devices of person.The computer instruction may be stored in a computer readable storage medium, or calculate from one
Machine readable storage medium storing program for executing is transmitted to another computer readable storage medium, for example, the computer instruction can be from a net
Website, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line) or wireless (example
Such as infrared, wireless, microwave) mode transmitted to another web-site, computer, server or data center.It is described
Computer-readable storage medium can be any usable medium or include that one or more can that computer can access
The data storage devices such as server, the data center integrated with medium.The usable medium can be magnetic medium, (for example, soft
Disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State Disk)
Deng.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of Robotic Dynamic characteristic measurement method, which is characterized in that the Robotic Dynamic characteristic measurement method includes:
Step 1 delimit region to be measured in robot working space, measuring point arranged in the region, and be numbered；
Robot is moved to each measuring point and carries out exciting, collects excitation and response signal data by step 2；
Step 3 obtains the frequency response function of robot end by excitation and response signal data；
Step 4 extracts dynamic characteristic testing index from robot end's frequency response function, draws index curve graph.
2. Robotic Dynamic characteristic measurement method as described in claim 1, which is characterized in that step 1 specifically includes:
Measuring point is uniformly distributed according to the space characteristics in measurement region；Number is from 1 to n, and wherein n is greater than 10.
3. Robotic Dynamic characteristic measurement method as described in claim 1, which is characterized in that step 2 specifically includes:
Vibrational excitation point is set on robot end, and three mutually perpendicular X, Y, Z-directions are set；
Response measurement point is set on robot end, and three mutually perpendicular x, y, z directions are set, is pacified in each direction
Fill vibratory response sensor；
Robot end is motivated from X-direction, acquires the response signal data in three directions of pumping signal and corresponding x, y, z；Class
As, robot end is motivated, and acquires the response signal number of pumping signal and corresponding x, y, z direction from Y, Z-direction respectively
According to；
Similarly, robot is moved to other measuring points, corresponding excitation and response signal is collected to each measuring point, and remember
Picture recording closes measuring point location information and robot joint angles information.
4. Robotic Dynamic characteristic measurement method as described in claim 1, which is characterized in that step 3 specifically includes: to each
The excitation of group and response signal data carry out signal processing, acquire the frequency response function of all directions, and be configured as
Robot end's frequency response function matrix H (ω):
Each component in formula (1) refers to the frequency response function for being activated to from certain direction and responding on certain direction, hyX(ω)
Indicate that the frequency response function that y directional response is activated to from X-direction, each component change with frequency；If necessary to the frequency of measurement
Rate includes m frequency values (ω1,ω2,…,ωm), then the H (ω) includes m 3 × 3 complex matrix.
5. Robotic Dynamic characteristic measurement method as described in claim 1, which is characterized in that step 4 specifically includes: by institute
Frequency response function is stated to obtain:
R=HF (2)
Wherein R indicates the vibratory response of robot end, and F indicates that the external force of robot end motivates, in H representation formula (1)
Frequency response function H (ω)；Formula (2) is obtained by further transformation:
RHR=FHHHHF (3)
The conjugate transposition of subscript H representing matrix in above formula；Formula (3) is further converted to:
Molecule indicates robot end's vibration amplitude on the left of formula (4) | R | square, denominator indicates external force amplitude | R | square,
Matrix M is equivalent in right side:
M=HHH (5)
And following formula is set up:
λ in formula (6)minAnd λmaxIt is the minimum and maximum characteristic value of matrix M respectively.Robot end can be obtained by formula (6)
The ratio of vibration amplitude and suffered external force amplitude | R |/| F | range it is as follows:
The ratio | R |/| F | robot end's vibration amplitude size when dynamic external force amplitude is unit power is described, most
Small value and maximum value are write as:
V in formula (8)minAnd vmaxIt is matrix M respectively about λminAnd λmaxFeature vector.The external force F suffered by the robot end
Equal to vminWhen, ratio | R |/| F | obtain minimum value；The external force F suffered by the robot end is equal to vmaxWhen, ratio | R |/| F | it takes
Maximum value is obtained, i.e., robot end's generated Oscillation Amplitude under the dynamic force effect of identical amplitude is maximum at this time；Using such as
Dynamic property of the lower index k evaluation robot under the measurement pose:
The index k is the conservative estimation of the ratio size to robot end's vibration amplitude Yu suffered external force amplitude, object
When reason meaning representation robot is in the measuring point pose, the ratio of tip vibration amplitude and suffered external force amplitude is in assigned frequency
The lower attainable maximum value of institute；
Frequency response function, which is sought, by the excitation and response signal data of each measuring point extracts index k respectively1, k2, k3……
kn, and it is averaged K:
The average value K indicates tip vibration amplitude and suffered external force amplitude ratio of the robot in measurement region | R |/| F |
Maximum value the overall evaluation, average value K as robot measurement region overall dynamics characteristic measurement index.
6. a kind of computer program for realizing Robotic Dynamic characteristic measurement method described in Claims 1 to 5 any one.
7. a kind of information data processing for realizing Robotic Dynamic characteristic measurement method described in Claims 1 to 5 any one is eventually
End.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires Robotic Dynamic characteristic measurement method described in 1~5 any one.
9. a kind of Robotic Dynamic characteristic measurement control system for realizing Robotic Dynamic characteristic measurement method described in claim 1
System.
10. a kind of Robotic Dynamic characteristic detecting apparatus for realizing Robotic Dynamic characteristic measurement method described in claim 1,
It is characterized in that, the Robotic Dynamic characteristic detecting apparatus is provided with
Robot；
Vibratory response sensor is installed on robot end；
The excitational equipment of exciting is carried out on robot end；
Vibratory response sensor, excitational equipment connect data collection system by data line；
Data collection system connects computer by data line；
Computer calculates and dynamic output characteristics testing index.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115812.5A CN109093650B (en) | 2018-09-25 | 2018-09-25 | Method, system and device for measuring dynamic characteristics of robot |
Applications Claiming Priority (1)
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