CN114161479B - Robot dragging teaching performance test system and test method - Google Patents
Robot dragging teaching performance test system and test method Download PDFInfo
- Publication number
- CN114161479B CN114161479B CN202111596124.7A CN202111596124A CN114161479B CN 114161479 B CN114161479 B CN 114161479B CN 202111596124 A CN202111596124 A CN 202111596124A CN 114161479 B CN114161479 B CN 114161479B
- Authority
- CN
- China
- Prior art keywords
- test
- mechanical arm
- tested
- module
- motion capture
- 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.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The application provides a robot dragging teaching performance test system which comprises a test software module, a test mechanical arm, a tested mechanical arm, a motion capture module, a six-dimensional force acquisition module and an electrical module. The application further provides a process force testing method realized by the robot dragging teaching performance testing system, which is used for testing the force control performance of the robot in the dragging teaching process. The application further provides a reproduction accuracy testing method realized by the robot dragging teaching performance testing system, which is used for testing the dragging teaching reproduction performance of the robot.
Description
Technical Field
The application relates to a system and a method for testing dragging teaching performance of a robot, and belongs to the technical field of robot detection.
Background
When the robot is in dragging teaching, different starting forces, such as amplitude, shaking, stability and the like of the starting force, can be caused in the starting stage due to different control strategies (force control algorithm, zero force control, friction force calculation and the like); during steady operation, different drag forces, such as amplitude of drag force, jitter, etc., are caused, and these parameters have a great influence on the performance of drag teaching.
When the robot drags teaching, if the control strategy (zero force control, friction force and the like) is not designed reasonably, the dragging teaching motion under the Cartesian coordinate system has deviation between a teaching track and a target track; if the track reproduction algorithm (difference algorithm, singular point control, etc.) of the tested sample is not designed perfectly, the teaching track and the reproduction track have deviation.
Disclosure of Invention
The purpose of the application is that: a system for testing a robot control strategy and a track reproduction algorithm and a testing method based on the system are provided.
In order to achieve the above purpose, the technical scheme of the application is to provide a robot dragging teaching performance test system, which comprises a test software module, a test mechanical arm, a tested mechanical arm, a motion capture module, a six-dimensional force acquisition module and an electrical module, wherein:
the test software module is respectively connected with the test mechanical arm, the tested mechanical arm, the motion capture module, the six-dimensional force acquisition module and the electrical module;
the test software module is used for controlling the test flow of the force test and the reproduction accuracy test in the dragging process, and is also used for displaying data, outputting test results and printing in the test process; meanwhile, the test software module can control the connected test mechanical arm and the tested mechanical arm to finish the force test and the reproduction accuracy test in the dragging process, and data in the test process are collected through the collection motion capture module and the six-dimensional force collection module;
the test mechanical arm is used for dragging the tested mechanical arm to carry out dragging teaching movement along a set track so as to finish the force test and the reproduction accuracy test in the dragging process;
the tested mechanical arm is used for different test movements, and the test software module collects test data of the tested mechanical arm and then analyzes the result;
the system comprises a motion capture module, a test software module, a software interface and a test software module, wherein the motion capture module is used for acquiring the position and posture data of a mechanical arm to be tested in space, the test software module is used for carrying out algorithm processing on the position and posture data while displaying the acquired position and posture data in real time, calculating a test result by combining six-dimensional force information acquired by the six-dimensional force acquisition module, and displaying the test result in the software interface of the test software module 1;
the six-dimensional force acquisition module is used for acquiring six-dimensional force information borne by the tail end of the mechanical arm to be tested in the test process through the six-dimensional force acquisition module, carrying out algorithm processing on the six-dimensional force information while carrying out real-time graphical display on the six-dimensional force information through the test software module, calculating a test result by combining the position and posture data acquired through the motion capture module, and displaying the test result in a software interface of the test software module;
the six-dimensional force acquisition module, the motion capture module, the test mechanical arm, the tested mechanical arm and the test software module are in signal transmission through the electrical module, and the test software module is in circuit control of the test mechanical arm and the tested mechanical arm through the electrical module.
Preferably, the test software module is connected with the test mechanical arm through a lower computer, is connected with the tested mechanical arm through a cable, is connected with the motion capture module through a switch, is connected with the six-dimensional force acquisition module through an acquisition box, and is connected with the electric module through a cable.
Preferably, the motion capture module comprises a group of rigid bodies installed at the tail end of the mechanical arm to be tested and a motion capture software system, the motion capture software system captures the position coordinates of each rigid body in the motion process of the mechanical arm to be tested in real time, and the position and posture data of the mechanical arm to be tested in space are obtained based on the position coordinates of each rigid body
The application also provides a process force testing method realized by the robot dragging teaching performance testing system, which is used for testing the force control performance of the robot in the dragging teaching process, and is characterized by comprising the following steps:
step1: the motion capture module calibration and initialization specifically comprises:
preparing a group of rigid bodies for capturing the motion information of the mechanical arm to be tested, and installing the rigid bodies at the tail end of the mechanical arm to be tested; the motion capture software system captures the position coordinates of each rigid body in real time through a camera; the pixel points collected by each camera in the motion capture software system reach more than 4000 by waving the calibration rod, so that the calibration of a camera coordinate system is completed; selecting an installed rigid body building model from the motion capture software system to finish the initialization of the motion capture software system;
step2: the initialization test mechanical arm and the six-dimensional force acquisition module specifically comprise:
after the test mechanical arm 2 is started, the test mechanical arm is connected with the test software module, and the test software module waits for sending a control instruction;
installing a six-dimensional force acquisition module at the tail end of a mechanical arm to be tested, and carrying out initial value unbiasing treatment after powering on the six-dimensional force acquisition module;
step3: setting test parameters, wherein the test parameters comprise rated load;
step4: the dragging process force test specifically comprises the following steps:
according to the step2, setting test parameters, controlling the test mechanical arm to search a tested cube, moving the center point of the tool at the tail end of the test mechanical arm to the first position point of the tested cube, and moving the center point of the tool at the tail end of the test mechanical arm to the first position point; the test mechanical arm is fixedly connected with the tail end of the tested mechanical arm, the test mechanical arm is controlled to drive the tested mechanical arm to carry out linear dragging teaching movement in a force-position mixed control mode, the end point of the dragging teaching track is a position point II of the tested cube, and the position point I and the position point II are two diagonal vertexes of an inclined plane rectangle confirmed based on the tested cube; the dragging teaching motion is finished after being executed back and forth for N times between the first position point and the second position point, and N is more than or equal to 2; and displaying the dragging force and the space pose information of the mechanical arm to be tested on a software interface of the test software module in real time.
Preferably, in step4, in the dragging teaching movement process, if the test mechanical arm collides with the mechanical arm to be tested or other rigid structures in the environment, the emergency stop button on the demonstrator mounted on the test mechanical arm is immediately pressed, the test mechanical arm immediately stops moving, and after the danger is relieved, the emergency stop button is reset, and the test is performed again.
The application also provides a reproduction accuracy testing method realized by the robot dragging teaching performance testing system, which is used for testing the dragging teaching reproduction performance of the robot and is characterized by comprising the following steps:
step1: the motion capture module calibration and initialization specifically comprises:
preparing a group of rigid bodies for capturing the motion information of the mechanical arm to be tested, and installing the rigid bodies at the tail end of the mechanical arm to be tested; the motion capture software system captures the position coordinates of each rigid body in real time through a camera; the pixel points collected by each camera in the motion capture software system reach more than 4000 by waving the calibration rod, so that the calibration of a camera coordinate system is completed; selecting an installed rigid body building model from the motion capture software system to finish the initialization of the motion capture software system;
step2: the initialization test mechanical arm and the six-dimensional force acquisition module specifically comprise:
after the test mechanical arm 2 is started, the test mechanical arm is connected with the test software module, and the test software module waits for sending a control instruction;
installing a six-dimensional force acquisition module at the tail end of a mechanical arm to be tested, and carrying out initial value unbiasing treatment after powering on the six-dimensional force acquisition module;
step3: setting test parameters, wherein the test parameters comprise track types and rated loads:
step4: the reproduction accuracy test specifically comprises:
controlling a test mechanical arm to search a tested cube, determining different test tracks according to the tested cube, selecting one of the test tracks in a test software module, moving the center point of a tool at the tail end of the test mechanical arm to the start point of the test track, and moving the center point of the tool at the tail end of the tested mechanical arm to the start point of the test track; the method comprises the steps that a test mechanical arm is fixedly connected with the tail end of a tested mechanical arm, the test mechanical arm is controlled to drive the tested mechanical arm to carry out dragging teaching movement once in a force-position mixed control mode, the information of the dragging teaching track is recorded through a motion capture module, and the end point of the dragging teaching track is the end point of the test track; after the test mechanical arm reaches the end point of the test track, the fixed connection between the test mechanical arm and the tail end of the tested mechanical arm is released, and the test mechanical arm moves to a designated position; the mechanical arm to be tested moves to the starting point of the dragging teaching track, N times of repeated movement are carried out based on the dragging teaching track, N is more than or equal to 1, and N times of repeated movement information is recorded through the motion capturing module; and displaying the dragging force and the space pose information of the mechanical arm to be tested on a software interface of the test software module in real time.
Preferably, in step4, during the dragging teaching movement process, or during the repeated movement process of the tested mechanical arm along the dragging teaching track alone, if the tested mechanical arm collides with the tested mechanical arm or other rigid structures in the environment, the emergency stop button on the demonstrator mounted on the tested mechanical arm is immediately pressed, the test mechanical arm immediately stops moving, and after the danger is relieved, the emergency stop button is reset, and the test is performed again.
The application provides a system and a method for testing the reproduction accuracy and the process force of a robot, which make up the blank in the field.
Drawings
FIG. 1 is a block diagram of a system for testing the dragging teaching performance of a robot according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for testing the dragging teaching performance of a robot;
FIG. 3 is a schematic representation of a test cube according to the present application.
Detailed Description
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the teachings of the present application, and such equivalents are intended to fall within the scope of the application as defined in the appended claims.
Example 1
As shown in fig. 1, the present embodiment provides a system for testing the dragging teaching performance of a robot, which includes a test software module 1, a test mechanical arm 2, a tested mechanical arm 3, a motion capture module 4, a six-dimensional force acquisition module 5, and an electrical module 6, wherein:
the test software module 1 is connected with the test mechanical arm 2 through a lower computer, is connected with the tested mechanical arm 3 through a cable, is connected with the motion capture module 4 through a switch, is connected with the six-dimensional force acquisition module 5 through an acquisition box, and is connected with the electric module 6 through a cable.
The test software module 1 is used for controlling the test flow of the force test and the reproduction accuracy test in the dragging process, and is also used for displaying data in the test process, outputting test results and printing. Meanwhile, the test software module 1 can control the connected test mechanical arm 2 and the tested mechanical arm 3 to finish the force test and the reproduction accuracy test in the dragging process, and collect data in the test process through the collection motion capture module 4 and the six-dimensional force collection module 5.
The test mechanical arm 2 is used for dragging the tested mechanical arm 3 to carry out dragging teaching movement along a set track so as to finish the force test and the reproduction accuracy test in the dragging process.
The tested mechanical arm 3 is used for different test movements, and the test software module 1 collects test data of the tested mechanical arm 3 and then analyzes results.
The motion capture module 4, the test software module 1 obtains the position and posture data of the mechanical arm 3 to be tested in space through the motion capture module 4, the test software module 1 performs algorithm processing on the position and posture data while displaying the obtained position and posture data in real time, the test result is calculated by combining the six-dimensional force information obtained through the six-dimensional force acquisition module 5, and the test result is displayed in a software interface of the test software module 1.
The motion capture module 4 further comprises a group of rigid bodies installed at the tail end of the mechanical arm 3 to be tested and a motion capture software system, the motion capture software system captures the position coordinates of each rigid body in the motion process of the mechanical arm 3 to be tested in real time, and the position and posture data of the mechanical arm 3 to be tested in space are obtained based on the position coordinates of each rigid body.
The six-dimensional force acquisition module 5 is used for acquiring six-dimensional force information borne by the tail end of the mechanical arm 3 to be tested in the test process by the test software module 1 through the six-dimensional force acquisition module 5, carrying out algorithm processing on the six-dimensional force information while carrying out real-time graphical display on the six-dimensional force information by the test software module 1, calculating a test result by combining the position and posture data acquired by the motion capture module 4, and displaying the test result in a software interface of the test software module 1;
the six-dimensional force acquisition module 5, the motion capture module 4, the test mechanical arm 2, the tested mechanical arm 3 and the test software module 1 are in signal transmission through the electrical module 6, and the test software module 1 is in circuit control of the test mechanical arm 2 and the tested mechanical arm 3 through the electrical module 6.
Example 2
The embodiment provides a process force testing method realized based on the robot dragging teaching performance testing system disclosed in embodiment 1, which is used for testing the force control performance of the robot in the dragging teaching process, and specifically comprises the following steps:
step1: the motion capture module 4 is calibrated and initialized, and specifically comprises:
a set of rigid bodies for capturing the motion information of the robot arm 3 under test is prepared, and the rigid bodies are mounted on the distal end of the robot arm 3 under test. The motion capture software system captures the position coordinates of each rigid body in real time through the camera. Through swinging the calibration rod, the pixel point collected by each camera in the motion capture software system reaches more than 4000, thereby completing the calibration of the camera coordinate system. And selecting an installed rigid body building model from the motion capture software system to finish the initialization of the motion capture software system.
Step2: the initialization test mechanical arm 2 and the six-dimensional force acquisition module 5 specifically comprise:
starting the test mechanical arm 2, executing a lower computer control program, enabling the test mechanical arm 2 to be connected with the test software module 1, and waiting for the test software module 1 to send a control instruction;
installing a six-dimensional force acquisition module 5 at the tail end of the mechanical arm 3 to be tested, and carrying out initial value unbiasing treatment after electrifying the six-dimensional force acquisition module 5;
step3: setting test parameters, wherein the test parameters comprise rated load;
step4: the dragging process force test specifically comprises the following steps:
according to the set test parameters in Step2, the test mechanical arm 2 is controlled to search the tested cube, as shown in fig. 3, the center point of the tool at the tail end of the test mechanical arm 2 moves to the point P4 of the tested cube, and the center point of the tool at the tail end of the test mechanical arm 3 also moves to the point P4. The test mechanical arm 2 is fixedly connected with the tail end of the tested mechanical arm 3 through a connecting device, the test mechanical arm 2 is controlled to drive the tested mechanical arm 3 to carry out linear dragging teaching movement in a force-position mixed control mode, the end point of the dragging teaching track is that the point P2 of the tested cube is at the upper left part of the inclined plane rectangle in the figure 3, and the point P4 is at the lower right part of the inclined plane rectangle in the figure 3. The drag teaching motion is finished after being performed back and forth 3 times between the P4 point and the P2 point. And displaying the dragging force and the space pose information of the mechanical arm 3 to be tested on a software interface of the test software module 1 in real time.
The tested cube is a space cube with one side length not smaller than 250mm, and the position is arbitrary, and only the test mechanical arm and the tail end of the tested mechanical arm can reach. As shown in fig. 3, the cube vertices are named C1, C2, C3, C4, C5, C6, C7, C8 in order. Connecting the two diagonals of the cube vertices C2, C8 and C1, C7 to obtain an intersection point P1, taking a point P4 (also known as E3) and a point P5 (also known as E4) on the P1C7 and the P1C8 respectively, wherein the point P5 is parallel to the side C7C8, and the length of the side P4P5 is 4/5 of the side C7C 8. Similarly, each point P2 (also written as E1) and P3 (also written as E2) is taken on P1C1 and P1C2 to be parallel to side C1C2, and the length of side P2P3 is 4/5 of side C1C 2. Connecting P2P3P4P5 to obtain a bevel rectangle. Taking the midpoints of the sides P2P5 and P3P4 of the rectangle to obtain P6 and P9 respectively, taking the P6P9 as a diameter to make a circle, taking the highest point and the lowest point of the circle as C4 and C6 respectively, taking the midpoint of the P1P6 as P7, and taking the midpoint of the P1P9 as P8. In the figure, S is the side length of a cube, D max For the diameter of the circle D min Is a small circle diameter with the point P1 as the center. The points P2 and P4 are used as a straight line track test and a process force test in the reproduction accuracy test, and the points P6, C4 and C6 are used as a circular track test in the reproduction accuracy test.
Step5: the abnormal condition processing specifically comprises the following steps:
when the test mechanical arm 2 collides with the mechanical arm 3 to be tested or other rigid structures in the environment, the emergency stop button on the demonstrator arranged on the test mechanical arm 2 is immediately pressed, the test mechanical arm 2 immediately stops moving, and the emergency stop button is reset after the danger is relieved.
Step6: ending the test or retesting after completing the exception handling.
Example 3
The embodiment provides a reproduction accuracy testing method of a robot dragging teaching performance testing system, which is used for testing the dragging teaching reproduction performance of a robot and specifically comprises the following steps:
step1: the motion capture module 4 is calibrated and initialized, and specifically comprises:
preparing a group of rigid bodies for capturing motion information of the mechanical arm 3 to be tested, and installing the rigid bodies at the tail end of the mechanical arm 3 to be tested;
step2: the initialization test mechanical arm 2 and the six-dimensional force acquisition module 5 specifically comprise:
starting the test mechanical arm 2, executing a lower computer control program, enabling the test mechanical arm 2 to be connected with the test software module 1, and waiting for the test software module 1 to send a control instruction;
installing a six-dimensional force acquisition module 5 at the tail end of the mechanical arm 3 to be tested, and carrying out initial value unbiasing treatment after electrifying the six-dimensional force acquisition module 5;
step3: setting test parameters, wherein the test parameters comprise track types and rated loads:
step4: the reproduction accuracy test specifically comprises:
and controlling the test mechanical arm 2 to search a tested cube, determining different test tracks according to the tested cube, selecting one of the test tracks in the test software module 1, moving the center point of the tool at the tail end of the test mechanical arm 2 to the start point of the test track, and moving the center point of the tool at the tail end of the tested mechanical arm 3 to the start point of the test track. The test mechanical arm 2 is fixedly connected with the tail end of the tested mechanical arm 3 through a connecting device, the test mechanical arm 2 is controlled to drive the tested mechanical arm 3 to carry out one-time dragging teaching movement in a force-position mixed control mode, the information of the dragging teaching track is recorded through the motion capture module 4, and the end point of the dragging teaching track is the end point of the test track. After the test mechanical arm 2 reaches the end point of the test track, the fixed connection between the test mechanical arm 2 and the tail end of the tested mechanical arm 3 is released, and the test mechanical arm 2 moves to a designated position. The mechanical arm 3 to be tested moves to the starting point of the dragging teaching track, and performs three repeated movements based on the dragging teaching track information, and the three repeated movement information is recorded through the motion capture module 4. And displaying the dragging force and the space pose information of the mechanical arm 3 to be tested on a software interface of the test software module 1 in real time.
Step5: the abnormal condition processing specifically comprises the following steps:
when the test mechanical arm 2 collides with the mechanical arm 3 to be tested or other rigid structures in the environment, the emergency stop button on the demonstrator arranged on the test mechanical arm 2 is immediately pressed, the test mechanical arm 2 immediately stops moving, and the emergency stop button is reset after the danger is relieved.
Step6: ending the test or retesting after completing the exception handling.
Claims (7)
1. The robot dragging teaching performance test system is characterized by comprising a test software module, a test mechanical arm, a tested mechanical arm, a motion capture module, a six-dimensional force acquisition module and an electrical module, wherein:
the test software module is respectively connected with the test mechanical arm, the tested mechanical arm, the motion capture module, the six-dimensional force acquisition module and the electrical module;
the test software module is used for controlling the test flow of the force test and the reproduction accuracy test in the dragging process, and is also used for displaying data, outputting test results and printing in the test process; meanwhile, the test software module can control the connected test mechanical arm and the tested mechanical arm to finish the force test and the reproduction accuracy test in the dragging process, and data in the test process are collected through the collection motion capture module and the six-dimensional force collection module;
the test mechanical arm is used for dragging the tested mechanical arm to carry out dragging teaching movement along a set track so as to finish the force test and the reproduction accuracy test in the dragging process;
the tested mechanical arm is used for different test movements, and the test software module collects test data of the tested mechanical arm and then analyzes the result;
the system comprises a motion capture module, a test software module, a software interface and a control module, wherein the motion capture module is used for acquiring position and gesture data of a mechanical arm to be tested in space through the motion capture module, the test software module is used for carrying out algorithm processing on the position and gesture data while displaying the acquired position and gesture data in real time, calculating a test result by combining six-dimensional force information acquired through the six-dimensional force acquisition module, and displaying the test result in the software interface of the test software module;
the six-dimensional force acquisition module is used for acquiring six-dimensional force information borne by the tail end of the mechanical arm to be tested in the test process through the six-dimensional force acquisition module, carrying out algorithm processing on the six-dimensional force information while carrying out real-time graphical display on the six-dimensional force information through the test software module, calculating a test result by combining the position and posture data acquired through the motion capture module, and displaying the test result in a software interface of the test software module;
the six-dimensional force acquisition module, the motion capture module, the test mechanical arm, the tested mechanical arm and the test software module are in signal transmission through the electrical module, and the test software module is in circuit control of the test mechanical arm and the tested mechanical arm through the electrical module.
2. The system for testing the dragging teaching performance of the robot according to claim 1, wherein the test software module is connected with the test mechanical arm through a lower computer, connected with the tested mechanical arm through a cable, connected with the motion capture module through a switch, connected with the six-dimensional force acquisition module through an acquisition box, and connected with the electrical module through a cable.
3. The system for testing the dragging teaching performance of the robot according to claim 1, wherein the motion capture module comprises a group of rigid bodies installed at the tail end of the mechanical arm to be tested and a motion capture software system, the motion capture software system captures the position coordinates of each rigid body in the motion process of the mechanical arm to be tested in real time, and the position and posture data of the mechanical arm to be tested in space are obtained based on the position coordinates of each rigid body.
4. A process force testing method implemented by the robot drag teaching performance testing system according to claim 1, for testing the force control performance of the robot in the drag teaching process, comprising the steps of:
step1: the motion capture module calibration and initialization specifically comprises:
preparing a group of rigid bodies for capturing the motion information of the mechanical arm to be tested, and installing the rigid bodies at the tail end of the mechanical arm to be tested; the motion capture software system captures the position coordinates of each rigid body in real time through a camera; the pixel points collected by each camera in the motion capture software system reach more than 4000 by waving the calibration rod, so that the calibration of a camera coordinate system is completed; selecting an installed rigid body building model from the motion capture software system to finish the initialization of the motion capture software system;
step2: the initialization test mechanical arm and the six-dimensional force acquisition module specifically comprise:
after the test mechanical arm is started, the test mechanical arm is connected with the test software module, and the test software module waits for sending a control instruction;
installing a six-dimensional force acquisition module at the tail end of a mechanical arm to be tested, and carrying out initial value unbiasing treatment after powering on the six-dimensional force acquisition module;
step3: setting test parameters, wherein the test parameters comprise rated load;
step4: the dragging process force test specifically comprises the following steps:
according to the step2, setting test parameters, controlling the test mechanical arm to search a tested cube, moving the center point of the tool at the tail end of the test mechanical arm to the first position point of the tested cube, and moving the center point of the tool at the tail end of the test mechanical arm to the first position point; the test mechanical arm is fixedly connected with the tail end of the tested mechanical arm, the test mechanical arm is controlled to drive the tested mechanical arm to carry out linear dragging teaching movement in a force-position mixed control mode, the end point of the dragging teaching track is a position point II of the tested cube, and the position point I and the position point II are two diagonal vertexes of an inclined plane rectangle confirmed based on the tested cube; the dragging teaching motion is finished after being executed back and forth for N times between the first position point and the second position point, and N is more than or equal to 2; and displaying the dragging force and the space pose information of the mechanical arm to be tested on a software interface of the test software module in real time.
5. The process force testing method according to claim 4, wherein in step4, if the test mechanical arm collides with the mechanical arm to be tested or other rigid structures in the environment during the dragging teaching movement, an emergency stop button on a demonstrator mounted on the test mechanical arm is immediately pressed, the test mechanical arm immediately stops moving, and after the danger is relieved, the emergency stop button is reset, and the test is performed again.
6. A reproduction accuracy test method implemented by the robot drag teaching performance test system according to claim 1, for testing the drag teaching reproduction performance of a robot, comprising the steps of:
step1: the motion capture module calibration and initialization specifically comprises:
preparing a group of rigid bodies for capturing the motion information of the mechanical arm to be tested, and installing the rigid bodies at the tail end of the mechanical arm to be tested; the motion capture software system captures the position coordinates of each rigid body in real time through a camera; the pixel points collected by each camera in the motion capture software system reach more than 4000 by waving the calibration rod, so that the calibration of a camera coordinate system is completed; selecting an installed rigid body building model from the motion capture software system to finish the initialization of the motion capture software system;
step2: the initialization test mechanical arm and the six-dimensional force acquisition module specifically comprise:
after the test mechanical arm is started, the test mechanical arm is connected with the test software module, and the test software module waits for sending a control instruction;
installing a six-dimensional force acquisition module at the tail end of a mechanical arm to be tested, and carrying out initial value unbiasing treatment after powering on the six-dimensional force acquisition module;
step3: setting test parameters, wherein the test parameters comprise track types and rated loads:
step4: the reproduction accuracy test specifically comprises:
controlling a test mechanical arm to search a tested cube, determining different test tracks according to the tested cube, selecting one of the test tracks in a test software module, moving the center point of a tool at the tail end of the test mechanical arm to the start point of the test track, and moving the center point of the tool at the tail end of the tested mechanical arm to the start point of the test track; the method comprises the steps that a test mechanical arm is fixedly connected with the tail end of a tested mechanical arm, the test mechanical arm is controlled to drive the tested mechanical arm to carry out dragging teaching movement once in a force-position mixed control mode, the information of the dragging teaching track is recorded through a motion capture module, and the end point of the dragging teaching track is the end point of the test track; after the test mechanical arm reaches the end point of the test track, the fixed connection between the test mechanical arm and the tail end of the tested mechanical arm is released, and the test mechanical arm moves to a designated position; the mechanical arm to be tested moves to the starting point of the dragging teaching track, N times of repeated movement are carried out based on the dragging teaching track, N is more than or equal to 1, and N times of repeated movement information is recorded through the motion capturing module; and displaying the dragging force and the space pose information of the mechanical arm to be tested on a software interface of the test software module in real time.
7. The reproduction accuracy testing method according to claim 6, wherein in step4, if the test mechanical arm collides with the test mechanical arm or other rigid structures in the environment during the dragging teaching movement or the test mechanical arm alone along the dragging teaching track, an emergency stop button on a demonstrator mounted on the test mechanical arm is immediately pressed, the test mechanical arm immediately stops moving, and after the danger is relieved, the emergency stop button is reset to perform the test again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596124.7A CN114161479B (en) | 2021-12-24 | 2021-12-24 | Robot dragging teaching performance test system and test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596124.7A CN114161479B (en) | 2021-12-24 | 2021-12-24 | Robot dragging teaching performance test system and test method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114161479A CN114161479A (en) | 2022-03-11 |
| CN114161479B true CN114161479B (en) | 2023-10-20 |
Family
ID=80488057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111596124.7A Active CN114161479B (en) | 2021-12-24 | 2021-12-24 | Robot dragging teaching performance test system and test method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161479B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101013416B1 (en) * | 2009-08-10 | 2011-02-14 | 강원대학교산학협력단 | System and method for testing robot hardware module |
| CN104552299A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Robot off-line teaching device and compensation teaching method |
| CN105690389A (en) * | 2016-04-07 | 2016-06-22 | 武汉菲仕运动控制系统有限公司 | Universal multi-degree-of-freedom robot test platform and control method |
| CN106938470A (en) * | 2017-03-22 | 2017-07-11 | 华中科技大学 | A kind of device and method of Robot Force control teaching learning by imitation |
| CN107696036A (en) * | 2017-08-21 | 2018-02-16 | 北京精密机电控制设备研究所 | A kind of dragging teaching machine of apery mechanical arm |
| CN107972070A (en) * | 2017-11-29 | 2018-05-01 | 上海新时达机器人有限公司 | Test method, test system and the computer-readable recording medium of robot performance |
| CN109382828A (en) * | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN110119541A (en) * | 2019-04-22 | 2019-08-13 | 上海大学 | A kind of robot testing's device and control system for pivot structure mechanics properties testing |
| CN110125944A (en) * | 2019-05-14 | 2019-08-16 | 中国地质大学（武汉） | A kind of mechanical arm teaching system and method |
| CN110405775A (en) * | 2019-05-07 | 2019-11-05 | 中国地质大学（武汉） | A kind of robot teaching system and method based on augmented reality |
-
2021
- 2021-12-24 CN CN202111596124.7A patent/CN114161479B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101013416B1 (en) * | 2009-08-10 | 2011-02-14 | 강원대학교산학협력단 | System and method for testing robot hardware module |
| CN104552299A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Robot off-line teaching device and compensation teaching method |
| CN105690389A (en) * | 2016-04-07 | 2016-06-22 | 武汉菲仕运动控制系统有限公司 | Universal multi-degree-of-freedom robot test platform and control method |
| CN106938470A (en) * | 2017-03-22 | 2017-07-11 | 华中科技大学 | A kind of device and method of Robot Force control teaching learning by imitation |
| CN107696036A (en) * | 2017-08-21 | 2018-02-16 | 北京精密机电控制设备研究所 | A kind of dragging teaching machine of apery mechanical arm |
| CN107972070A (en) * | 2017-11-29 | 2018-05-01 | 上海新时达机器人有限公司 | Test method, test system and the computer-readable recording medium of robot performance |
| CN109382828A (en) * | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN110119541A (en) * | 2019-04-22 | 2019-08-13 | 上海大学 | A kind of robot testing's device and control system for pivot structure mechanics properties testing |
| CN110405775A (en) * | 2019-05-07 | 2019-11-05 | 中国地质大学（武汉） | A kind of robot teaching system and method based on augmented reality |
| CN110125944A (en) * | 2019-05-14 | 2019-08-16 | 中国地质大学（武汉） | A kind of mechanical arm teaching system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114161479A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2020201554B2 (en) | System and method for robot teaching based on RGB-D images and teach pendant | |
| CN106873550B (en) | Simulation device and simulation method | |
| US10894324B2 (en) | Information processing apparatus, measuring apparatus, system, interference determination method, and article manufacturing method | |
| CN110842901B (en) | Robot hand-eye calibration method and device based on novel three-dimensional calibration block | |
| CN105014678A (en) | Robot hand-eye calibration method based on laser range finding | |
| CN101973032A (en) | Off-line programming system and method of optical visual sensor with linear structure for welding robot | |
| CN109840508A (en) | One robot vision control method searched for automatically based on the depth network architecture, equipment and storage medium | |
| CN105373011B (en) | Detect the real-time emulation system and computer of electro-optical tracking device | |
| CN111481231A (en) | Ultrasonic detection control method and device and computer readable storage medium | |
| Kohn et al. | Towards a real-time environment reconstruction for VR-based teleoperation through model segmentation | |
| US11898835B2 (en) | Configuration of a non-destructive testing device | |
| CN210361314U (en) | Robot teaching device based on augmented reality technology | |
| CN114161479B (en) | Robot dragging teaching performance test system and test method | |
| CN109636856A (en) | Object 6 DOF degree posture information union measuring method based on HOG Fusion Features operator | |
| CN105653460A (en) | Method and system for recording and playback of man-machine interface testing actions of touch screen product | |
| CN204525481U (en) | A kind of unpowered articulated arm teaching machine | |
| CN104760044B (en) | A kind of unpowered articulated arm teaching machine and the application in industrial robot thereof | |
| JP2012145381A (en) | Three-dimensional coordinate measurement device | |
| CN114029950B (en) | Robot coordinate system analysis method and device, robot equipment and storage medium | |
| CN1672881A (en) | On-line robot hand and eye calibrating method based on motion selection | |
| CN116945195B (en) | Omnidirectional measurement device system arrangement, registration method, electronic device and storage medium | |
| CN2645034Y (en) | Object space pose detection apparatus | |
| CN115869009B (en) | Remote ultrasonic diagnosis system and interactive control method | |
| US20230133168A1 (en) | Method for identifying human postures and gestures for interaction purposes and portable hand-held device | |
| US20230154162A1 (en) | Method For Generating Training Data Used To Learn Machine Learning Model, System, And Non-Transitory Computer-Readable Storage Medium Storing Computer Program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |