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A combined operation test method for a dual-arm robot based on a laser tracker

A laser tracker and combined operation technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low measurement accuracy, high technical level requirements of measurement personnel, and long measurement time.

Active Publication Date: 2022-04-08
安徽哈工湛庐科技装备有限公司
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  • Abstract
  • Description
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is: to solve the test problem of relevant coordination data in the combined operation of the dual-arm robot at present, and the low measurement accuracy existing in the existing test method, the need to manually set the test pose, manually save the original data, record the original Parameters, manual calculation of measurement results, filling of test reports, complex operation process, long measurement time, and high technical requirements for measurement personnel; finally provide a dual-arm robot combined operation test method based on laser tracker, the method It is used to test the pose parameters of the combined operation of the dual-arm robot, and describe the completion of the combined manipulation of the workpiece assembly by the dual-arm robot with test indicators

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[0030] The laser tracker-based dual-arm robot combined operation testing method provided by the present invention will be further described in detail below.

[0031] The invention will now be described in more detail with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, it being understood that those skilled in the art may modify the invention described herein and still achieve the beneficial effects of the invention. Therefore, the following description should be understood as the broad knowledge of those skilled in the art, but not as a limitation of the present invention.

[0032] In the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions and constructions are not described in detail since they would obscure the invention with unnecessary detail. It should be appreciated that in the development of any practical embodiment, numerous implementatio...

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Abstract

The invention relates to a combined operation test method of a dual-arm robot based on a laser tracker. The dual-arm robot includes a manipulator A and a manipulator B. The laser tracker measures the pose parameters of manipulator A and manipulator B respectively, and calculates the deviation and weighted average of the pose parameters of manipulator A and manipulator B to obtain the pose accuracy and repeatability of the combined arms , dual-arm combination trajectory accuracy and speed accuracy, to describe the degree of completion of the dual-arm robot's combined manipulation of the workpiece assembly. Problems such as the accuracy of the test of the relevant coordination data in the combined operation of the dual-arm robot are better solved.

Description

technical field [0001] The invention belongs to the technical field of robot testing, and in particular relates to a combined operation testing method of a dual-arm robot based on a laser tracker. Background technique [0002] A dual-arm industrial robot refers to an industrial robot that uses a control system to control two sets of manipulators to jointly complete one or a set of operating tasks. The dual-arm robot imitates the principle of cooperation of human arms, and has the function of separate operation of the arms. It is composed of two single arms of space joint industrial robots. It has the characteristics of high speed and high precision, large working space, long life, modularization and high integration. , suitable for directional space load operations, can adopt implanted structure, especially suitable for plate manufacturing loading and unloading operations. There are many complex assembly tasks and parts handling tasks in the robot industry and automated pro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1682B25J19/0095
Inventor 赵昊宁王飞赵福臣张海滨陈浣于振中
Owner 安徽哈工湛庐科技装备有限公司
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