Motion characteristic detection method based on built-in sensor signal of industrial robot

Abstract

The invention discloses a kinetic characteristic detecting method based on a built-in sensor signal of an industrial robot. The kinetic characteristic detecting method comprises the following steps that: a data acquisition board acquires a signal of each joint servo motor coder of the industrial robot, and reads position feedback pulse count, sent to a robot control cabinet, of a joint servo motor of the industrial robot; a calculating processing unit performs coordinate conversion computation of a joint conversion matrix in a D-H model on kinetic information of each joint of the industrial robot according to the robot kinetic D-H model to obtain a coordinate value and motion track, under a base coordinate system of the industrial robot, of real-time point location of the industrial robot end, and a calculating processing unit performs three-dimensional space real-time display on the coordinate value and the motion track through the display screen; and theoretical point location of the industrial robot end is compared with the obtained coordinate value to given position precision information. The kinetic characteristic detecting method is simple in detecting principle and is easy to realize, has the advantages of being convenient, quick and capable of real-time detection; and a measuring device does not need to be additionally arranged on the robot end, so that cost is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a motion characteristic detection method based on built-in sensor signals of industrial robots. Background technique [0002] Industrial robots are typical mechatronic equipment. With the continuous expansion of the application field of industrial robots and the rapid development of modern industry, people have higher and higher requirements for the performance of industrial robots. Therefore, high speed, high precision, intelligence and modularization have become the current Main trends in the development of industrial robots. Due to the increasingly prominent status of industrial robots in the manufacturing industry, as high-tech, high-precision manufacturing equipment, their performance, precision, and intelligence are required to be higher, especially for precision issues. Scholars have done a lot to improve the precision of robots. A lot of hard work and work. The accuracy of...

AI Technical Summary

Problems solved by technology

The disadvantage is that the operation is complicated, the price is expensive, and it cannot be widely used for the time being.

[0006] At present, there are few motion detections for industrial robots in the working state. Due to the load, the working environment of the robot in the working state is different from the case of no-load operation.

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