CN113681592A - Industrial robot joint axis deviation testing method - Google Patents
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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
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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 relates to the technical field of robot performance testing, in particular to a method for testing the deviation of an industrial robot joint axis, which comprises the following steps: s1: determining the motion range of the robot joint; s2: adjusting the test pose of the robot; s3: installing a joint axis deviation test target ball; s4: data acquisition and verification; s5: the robot joint axis deviation calculation result is output, the industrial robot joint axis deviation is quantitatively obtained based on the laser tracker, circle center fitting is carried out on the sensitivity of discrete data by using a least square method, the test process is convenient and fast, and the requirement on experimental testers is low; the method for quantitatively testing the joint axis deviation of the industrial robot is high in testing efficiency and high in accuracy.
Description
Technical Field
The invention relates to the technical field of robot performance testing, in particular to a method for testing the deviation of an industrial robot joint axis.
Background
The robot joint axis deviation is mainly influenced by the manufacturing precision of a robot body and the assembly error of the robot, and is one of important performance indexes of an industrial robot, but the robot track precision is not influenced by the joint axis deviation due to the change of the load, so the joint axis deviation is constant in the motion process of the robot.
In the prior art, the influence of a robot joint axis on the absolute precision of a robot track is rarely considered when an industrial robot performs precision analysis, and as the precision requirement of the robot track increases, the robot joint axis deviation becomes a problem to be solved at present, but a quantitative test method for the robot joint axis deviation is lacked, so a new quantitative test method for the robot joint axis needs to be invented to solve the problem, and the result of the robot joint axis deviation needs to be output quantitatively.
At present, a robot joint axis deviation quantitative test method is rarely available, so that an industrial robot joint axis deviation test method is urgently needed to be output at present, and meanwhile, data are guaranteed to be real and reliable and the applicability is strong.
Disclosure of Invention
In order to solve the problems, the invention provides a method for testing the deviation of the joint axis of the industrial robot.
A method for testing the deviation of the joint axis of an industrial robot specifically comprises the following steps:
s1: determining the motion range of the robot joint;
s2: adjusting the test pose of the robot;
s3: installing a joint axis deviation test target ball;
s4: data acquisition and verification;
s5: and outputting the calculation result of the robot joint axis deviation.
In the step S1, before the test, it is ensured that the mounting position of the test target ball is reasonable, the laser tracker does not lose light, and the range of motion of the robot joint is expanded as much as possible, and the reason that the mounting position of the target ball is reasonable is to ensure that the target ball does not fall off, lose light, or interfere with each other; the laser tracker does not lose light so as to ensure that test data is reasonable; the robot joint motion range is expanded to ensure that the test data sample is convenient to fit.
Step S2 is to ensure that the test process is not lost, the test range is wide, and to reduce the moment that the robot applies to the joints due to the action of gravity, thereby causing the situation that the test result of the joint axis is unreasonable, when testing the axis of each joint, the other joints need to be adjusted to the designated positions, and specifically includes the following steps:
a. when the robot J1 is tested, the joint positions of J2-J6 need to be adjusted to the designated positions;
b. when the robot J2 is tested, the joint positions of J1 and J3-J6 need to be adjusted to the designated positions;
c. the same principle is used when the robots J3, J4, J5 and J6 are used for testing.
In the step S3, since the post data processing needs to perform fitting calculation of different circular arc trajectories and fitting calculation of joint axes, and finally obtains the optimal fitting result, circular arc trajectory testing needs to be performed on different positions of each joint, repeated measurement of test data due to too close of the test positions is avoided at each time, and the target ball mounting position needs to be mounted in combination with the test positions, the measurement range, and the possibility of avoiding light loss.
The step S4 specifically includes the following steps:
a. the method comprises the following steps of firstly selecting a least square method to carry out circle center data fitting in the later stage of experimental data acquisition, and simultaneously rotating a test target ball manually in the test process in order to ensure that large-range circular arc trajectory data are acquired as far as possible;
b. the testing process at least ensures that the testing positions of each joint are not less than 2-3 for subsequent data analysis;
c. the test data needs to be analyzed in real time on site, firstly, whether the data in a Cartesian coordinate system guarantees the stability of data acquisition circulation is analyzed, part of the data possibly causes data circulation result deviation due to objective factors, deep analysis is carried out on the data on the basis, and whether the test data are in accordance with positive distribution or not is calculated by means of matlab.
In the step S4 a, human errors introduced by artificially rotating the target ball are verified based on the requirement, so that in the pre-experiment process, the robot is fixed and the target ball is rotated, that is, the robot servo band-type brake collects target ball rotation trajectory data by means of the laser tracker, and performs position accuracy and position repeatability calculation on the target ball data on site by means of RoboTL software, and the calculation result is controlled within a reasonable range of 20 μm, so that the target ball rotation operation is reasonable, and the method can be used for large-range joint axis actual measurement.
In the step S4 b, in the process of testing the J4 joint axis, in order to reduce the introduction of geometric errors and non-geometric errors of the J1 joint, the J2 joint and the J3 joint, the J4 joint axis test needs to be performed after the current posture is kept unchanged after the previous 3 joint tests are finished; in addition, due to the limitation of geometric dimensions of J5 and J6 joints, target ball installation and actual measurement must be carried out by means of a small tool, the requirement on tool rigidity is in a reasonable range, and non-geometric errors introduced by the tool are avoided.
In the step S4 c, the normal distribution is mainly based on experimental measured data rather than actual measured data in a cartesian coordinate system, and is used for fitting a central plane of the actual measured data, calculating a distance from the actual measured data to the central plane, and performing normal distribution analysis on the plane distance.
The step S5 includes the following steps:
a. after data acquisition is finished, calculating the minimum value between the actually measured data and the actually measured data mean value by means of matlab, namely determining a public plane of original data, listing a public plane equation to visually display the plane display state, generating a space grid matrix by means of a mesh function, and drawing the public plane by means of the mesh function;
b. the result of circle center fitting calculation is obtained through the data, and if circle center fitting is directly performed on the projection point on the plane based on the circular arc track, the deviation between the partial circle center fitting result and the actual circle center position is large;
c. taking the joint axis included angle of the industrial robot J1 and J2 shafts as an example, theoretically, the joint axes of J1 and J2 are absolutely vertical, but the robot is not really and absolutely vertical to the J1 and J2 shafts due to processing, manufacturing and assembling reasons, a plane normal vector which is perpendicular to a common plane and fits a circle center is made based on a point-normal equation, and the space included angle of the two vectors is calculated to be the joint axis deviation of the J1 and J2 shafts.
In step S5 b, the reason why the deviation between the partial circle center fitting result and the actual circle center position is large is that the circular arc track is not a complete spatial circular track, and because of the sensitivity of the least square method to the discrete data, the circular arc track circle center fitting based on the least square method needs to complete the spatial circular fitting on the circular arc track because the individual discrete data "has an offset" actual circle center, and the circle center fitting is performed based on the data after the spatial circular fitting and by using the least square method.
The invention has the beneficial effects that: the method quantitatively obtains the joint axis deviation of the industrial robot based on the laser tracker, and performs circle center fitting on the sensitivity of discrete data by using a least square method, so that the test process is convenient and quick, and the requirement on experimental testers is low; the method for quantitatively testing the joint axis deviation of the industrial robot is high in testing efficiency and high in accuracy.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of a test method of the present invention;
FIG. 2 is a schematic view of the mounting of a test target ball of the present invention;
FIG. 3 is a schematic diagram of a normal distribution according to the present invention;
FIG. 4 is a schematic of the raw data acquisition of the present invention;
FIG. 5 is a schematic diagram of a common plane fit of the present invention;
FIG. 6 is a schematic view of a spatial circle center fit of the present invention;
FIG. 7 is a schematic view of the joint axis deviation calculation process of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1, a method for testing the deviation of the joint axis of an industrial robot specifically comprises the following steps:
s1: determining the motion range of the robot joint;
s2: adjusting the test pose of the robot;
s3: installing a joint axis deviation test target ball;
s4: data acquisition and verification;
s5: and outputting the calculation result of the robot joint axis deviation.
Fig. 2 is a schematic view of the installation of a test target ball, wherein 1 is a J2 joint, 2 is a target ball, 3 is a test tool, and 4 is a robot arm.
The method quantitatively obtains the joint axis deviation of the industrial robot based on the laser tracker, and performs circle center fitting on the sensitivity of discrete data by using a least square method, so that the test process is convenient and quick, and the requirement on experimental testers is low; the method for quantitatively testing the joint axis deviation of the industrial robot is high in testing efficiency and high in accuracy.
In the testing method of step S1, it should be ensured that the target ball mounting position is reasonable before the robot joint axis deviation test, the laser tracker does not lose light, and the robot joint motion range is enlarged as much as possible, and the reason that the target ball mounting position is reasonable is to ensure that the target ball does not fall off, lose light, or interfere; the laser tracker does not lose light so as to ensure that test data is reasonable; the robot joint motion range is expanded to ensure that the test data sample is convenient to fit.
Step S2 is to ensure that the test process is not lost, the test range is wide, and to reduce the moment that the robot applies to the joints due to the action of gravity, thereby causing the situation that the test result of the joint axis is unreasonable, when testing the axis of each joint, the other joints need to be adjusted to the designated positions, and specifically includes the following steps:
a. when the robot J1 is tested, the joint positions of J2-J6 need to be adjusted to the designated positions;
b. when the robot J2 is tested, the joint positions of J1 and J3-J6 need to be adjusted to the designated positions;
c. the same principle is used when the robots J3, J4, J5 and J6 are used for testing.
As shown in fig. 2, in the step S3, since the post data processing needs to perform fitting calculation of different circular arc trajectories and fitting calculation of joint axes, and finally obtains the best fitting result, circular arc trajectory testing needs to be performed on different positions of each joint, repeated measurement of test data due to too close of the test positions is avoided each time, and the target ball mounting position needs to be mounted in combination with the test position, the measurement range, and the possibility of avoiding light loss.
The step S4 specifically includes the following steps:
a. the method comprises the following steps of firstly selecting a least square method to carry out circle center data fitting in the later stage of experimental data acquisition, and simultaneously rotating a test target ball manually in the test process in order to ensure that large-range circular arc trajectory data are acquired as far as possible;
b. the testing process at least ensures that the testing positions of each joint are not less than 2-3 for subsequent data analysis;
c. the test data needs to be analyzed in real time on site, firstly, whether the data in a Cartesian coordinate system guarantees the stability of data acquisition circulation is analyzed, part of the data possibly causes data circulation result deviation due to objective factors, deep analysis is carried out on the data on the basis, and whether the test data are in accordance with positive distribution or not is calculated by means of matlab.
In the step S4 a, human errors introduced by artificially rotating the target ball are verified based on the requirement, so that in the pre-experiment process, the robot is fixed and the target ball is rotated, that is, the robot servo band-type brake collects target ball rotation trajectory data by means of the laser tracker, and performs position accuracy and position repeatability calculation on the target ball data on site by means of RoboTL software, and the calculation result is controlled within a reasonable range of 20 μm, so that the target ball rotation operation is reasonable, and the method can be used for large-range joint axis actual measurement.
In the step S4 b, in the process of testing the J4 joint axis, in order to reduce the introduction of geometric errors and non-geometric errors of the J1 joint, the J2 joint and the J3 joint, the J4 joint axis test needs to be performed after the current posture is kept unchanged after the previous 3 joint tests are finished; in addition, due to the limitation of geometric dimensions of J5 and J6 joints, target ball installation and actual measurement must be carried out by means of a small tool, the requirement on tool rigidity is in a reasonable range, and non-geometric errors introduced by the tool are avoided.
As shown in fig. 3, in the step S4 c, the normal distribution mainly aims at actual measurement data not in a cartesian coordinate system, but fits a central plane of the actual measurement data based on the actual measurement data, calculates a distance from the actual measurement data to the central plane as D, and performs normal distribution analysis on D, and if some measured point data do not conform to the normal distribution trend, the accuracy of the fitting result cannot be directly judged from the circle center fitting result, but the normal distribution result obviously does not conform to the ideal positive distribution trend, and the joint axis should be immediately retested, so as to ensure the reasonableness of the test data.
The step S5 includes the following steps:
a. after data acquisition is finished, calculating the minimum value between the actually measured data and the actually measured data mean value by means of matlab, namely determining a public plane of original data, listing a public plane equation to visually display the plane display state, generating a space grid matrix by means of a mesh function, and drawing the public plane by means of the mesh function;
b. the result of circle center fitting calculation is obtained through the data, and if circle center fitting is directly performed on the projection point on the plane based on the circular arc track, the deviation between the partial circle center fitting result and the actual circle center position is large;
c. taking the joint axis included angle of the industrial robot J1 and J2 shafts as an example, theoretically, the joint axes of J1 and J2 are absolutely vertical, but the robot is not really and absolutely vertical to the J1 and J2 shafts due to processing, manufacturing and assembling reasons, a plane normal vector which is perpendicular to a common plane and fits a circle center is made based on a point-normal equation, and the space included angle of the two vectors is calculated to be the joint axis deviation of the J1 and J2 shafts.
As shown in fig. 4, in S5 of the above-mentioned step, for example, when the joint axis of the industrial robot J1 is tested, the large arm and the above part of the robot are placed in a vertical state, the gravity field direction of the large arm and the above part of the robot is ensured to fall on the J1 axis, the influence of the overturning moment caused by gravity on the test result of the joint axis is reduced, and under this condition, data acquisition is started, where the acquired data is the spatial position coordinates (xi, yi, zi) in the cartesian spatial coordinate system of the laser tracker, and is output by means of the plot3 function in matlab.
As shown in fig. 5, in step S5 a, after data collection is completed, the circular arc trajectory position coordinate (xi, yi, zi) is named planedata, the raw data mean data is processed and named xyz0, the minimum value of planedata and xyz0 is calculated by means of the minus function in matlab, that is, the common plane of the raw data is determined, the common plane equation coefficients a, b, c, d are solved by means of the SVD decomposition function, the common plane equation a x + b y + c z + d is listed as 0, in order to visually display the plane display state, a spatial grid matrix is generated by means of the mesh function, the common plane is drawn by means of the mesh function, at this time, the data coordinate of the raw data projected to the common plane is named M, and M and the plane are output.
As shown in fig. 6, in step S5 b, the reason why the partial circle center fitting result deviates greatly from the actual circle center position is that the circular arc track is not a complete spatial circular track, and because of the sensitivity of the least square method to discrete data, the circular arc track circle center fitting based on the least square method needs to complete the spatial circular fitting to the circular arc track because of "deviating" the actual circle center of individual discrete data, the spatial position coordinate after the spatial circular fitting is named as G, and the circle center fitting is performed by using the least square method lsqnlin function based on G data, and the circle center fitting result of the complete spatial circle is output.
As shown in fig. 7, taking the joint axis included angle of the shafts of the industrial robot J1 and J2 as an example, theoretically, the joint axes of J1 and J2 are absolutely perpendicular, but the shafts of J1 and J2 are not absolutely perpendicular actually due to processing, manufacturing, assembling and the like of the robot, normal vectors of a plane perpendicular to a common plane and passing through a fitting circle center are AB and CD respectively based on a point-normal equation, a space included angle between the AB vector and the CD vector is calculated to be the joint axis deviation of the shafts of J1 and J2, and the joint axis deviation calculation process is performed.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A method for testing the deviation of the joint axis of an industrial robot is characterized by comprising the following steps: the method specifically comprises the following steps:
s1: determining the motion range of the robot joint;
s2: adjusting the test pose of the robot;
s3: installing a joint axis deviation test target ball;
s4: data acquisition and verification;
s5: and outputting the calculation result of the robot joint axis deviation.
2. A method for testing the deviation of the joint axis of an industrial robot according to claim 1, characterized in that: in the step S1, before the test, it is ensured that the mounting position of the test target ball is reasonable, the laser tracker does not lose light, and the range of motion of the robot joint is expanded as much as possible, and the reason that the mounting position of the target ball is reasonable is to ensure that the target ball does not fall off, lose light, or interfere with each other; the laser tracker does not lose light so as to ensure that test data is reasonable; the robot joint motion range is expanded to ensure that the test data sample is convenient to fit.
3. A method for testing the deviation of the joint axis of an industrial robot according to claim 1, characterized in that: step S2 is to ensure that the test process is not lost, the test range is wide, and to reduce the moment that the robot applies to the joints due to the action of gravity, thereby causing the situation that the test result of the joint axis is unreasonable, when testing the axis of each joint, the other joints need to be adjusted to the designated positions, and specifically includes the following steps:
a. when the robot J1 is tested, the joint positions of J2-J6 need to be adjusted to the designated positions;
b. when the robot J2 is tested, the joint positions of J1 and J3-J6 need to be adjusted to the designated positions;
c. the same principle is used when the robots J3, J4, J5 and J6 are used for testing.
4. A method for testing the deviation of the joint axis of an industrial robot according to claim 1, characterized in that: in the step S3, since the post data processing needs to perform fitting calculation of different circular arc trajectories and fitting calculation of joint axes, and finally obtains the optimal fitting result, circular arc trajectory testing needs to be performed on different positions of each joint, repeated measurement of test data due to too close of the test positions is avoided at each time, and the target ball mounting position needs to be mounted in combination with the test positions, the measurement range, and the possibility of avoiding light loss.
5. A method for testing the deviation of the joint axis of an industrial robot according to claim 1, characterized in that: the step S4 specifically includes the following steps:
a. the method comprises the following steps of firstly selecting a least square method to carry out circle center data fitting in the later stage of experimental data acquisition, and simultaneously rotating a test target ball manually in the test process in order to ensure that large-range circular arc trajectory data are acquired as far as possible;
b. the testing process at least ensures that the testing positions of each joint are not less than 2-3 for subsequent data analysis;
c. the test data needs to be analyzed in real time on site, firstly, whether the data in a Cartesian coordinate system guarantees the stability of data acquisition circulation is analyzed, part of the data possibly causes data circulation result deviation due to objective factors, deep analysis is carried out on the data on the basis, and whether the test data are in accordance with positive distribution or not is calculated by means of matlab.
6. An industrial robot joint axis deviation testing method according to claim 5, characterized in that: in the step S4 a, human errors introduced by artificially rotating the target ball are verified based on the requirement, so that in the pre-experiment process, the robot is fixed and the target ball is rotated, that is, the robot servo band-type brake collects target ball rotation trajectory data by means of the laser tracker, and performs position accuracy and position repeatability calculation on the target ball data on site by means of RoboTL software, and the calculation result is controlled within a reasonable range of 20 μm, so that the target ball rotation operation is reasonable, and the method can be used for large-range joint axis actual measurement.
7. An industrial robot joint axis deviation testing method according to claim 6, characterized in that: in the step S4 b, in the process of testing the J4 joint axis, in order to reduce the introduction of geometric errors and non-geometric errors of the J1 joint, the J2 joint and the J3 joint, the J4 joint axis test needs to be performed after the current posture is kept unchanged after the previous 3 joint tests are finished; in addition, due to the limitation of geometric dimensions of J5 and J6 joints, target ball installation and actual measurement must be carried out by means of a small tool, the requirement on tool rigidity is in a reasonable range, and non-geometric errors introduced by the tool are avoided.
8. An industrial robot joint axis deviation testing method according to claim 7, characterized in that: in the step S4 c, the normal distribution is mainly based on experimental measured data rather than actual measured data in a cartesian coordinate system, and is used for fitting a central plane of the actual measured data, calculating a distance from the actual measured data to the central plane, and performing normal distribution analysis on the plane distance.
9. A method for testing the deviation of the joint axis of an industrial robot according to claim 1, characterized in that: the step S5 includes the following steps:
a. after data acquisition is finished, calculating the minimum value between the actually measured data and the actually measured data mean value by means of matlab, namely determining a public plane of original data, listing a public plane equation to visually display the plane display state, generating a space grid matrix by means of a mesh function, and drawing the public plane by means of the mesh function;
b. the result of circle center fitting calculation is obtained through the data, and if circle center fitting is directly performed on the projection point on the plane based on the circular arc track, the deviation between the partial circle center fitting result and the actual circle center position is large;
c. taking the joint axis included angle of the industrial robot J1 and J2 shafts as an example, theoretically, the joint axes of J1 and J2 are absolutely vertical, but the robot is not really and absolutely vertical to the J1 and J2 shafts due to processing, manufacturing and assembling reasons, a plane normal vector which is perpendicular to a common plane and fits a circle center is made based on a point-normal equation, and the space included angle of the two vectors is calculated to be the joint axis deviation of the J1 and J2 shafts.
10. A method for testing deviation of an industrial robot joint axis according to claim 9, characterized in that: in step S5 b, the reason why the deviation between the partial circle center fitting result and the actual circle center position is large is that the circular arc track is not a complete spatial circular track, and because of the sensitivity of the least square method to the discrete data, the circular arc track circle center fitting based on the least square method needs to complete the spatial circular fitting on the circular arc track because the individual discrete data "has an offset" actual circle center, and the circle center fitting is performed based on the data after the spatial circular fitting and by using the least square method.
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| CN109813218A (en) * | 2019-01-23 | 2019-05-28 | 南京工程学院 | A kind of precision compensation method of the Three Degree Of Freedom target for laser tracker |
| CN111426270A (en) * | 2020-04-27 | 2020-07-17 | 南京工程学院 | Industrial robot pose measurement target device and joint position sensitive error calibration method |
| CN112276999A (en) * | 2020-07-29 | 2021-01-29 | 广东产品质量监督检验研究院（国家质量技术监督局广州电气安全检验所、广东省试验认证研究院、华安实验室） | Rod length calibration method and device for industrial robot based on laser tracker |
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