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Cooperative robot reachable domain test system and method based on LABVIEW

A robot and domain testing technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low efficiency, and achieve the effect of improving test efficiency

Active Publication Date: 2020-11-17
SHANGHAI ROBOT IND TECH RES INST CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: the current method for testing the reachable domain of robots is relatively inefficient

Method used

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  • Cooperative robot reachable domain test system and method based on LABVIEW
  • Cooperative robot reachable domain test system and method based on LABVIEW

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Embodiment Construction

[0026] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0027] The development of automation has made robots more and more widely used. For robots, the application scenarios are very important. Assembly, quality inspection, grasping, spraying, etc. require the robot to have high positioning accuracy and range of motion. The determination of positioning accuracy and activity range can be realized through reachable domain indicators. The reachable domain is one of the important cont...

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Abstract

One technical scheme of the invention is to provide a cooperative robot reachable domain test system based on LABVIEW. Another technical scheme of the invention is to provide a cooperative robot reachable domain test method based on the LABVIEW. The cooperative robot reachable domain test method based on the LABVIEW provided by the invention comprises the steps of based on a semi-physical simulation technology and a robot control technology, using a robot reverse kinematics function for calculating whether a space coordinate point in a range is reachable or not, and verifying the reachable domain of a robot according to the actual running state and the position arrival condition of the robot; besides, through a mode of forming a coordinate point set, realizing automatic traversal of coordinate points and recording of reachable points by using the semi-physical simulation technology, and detecting the reachable problem of the robot between two points and the reachable problem of a single point within a certain range through directly calling the robot reverse kinematics function, so that the test efficiency is improved; and finally, calculating the space reachable coverage rate of the robot according to the reachable point recording of the reachable domain test.

Description

technical field [0001] The invention relates to a test system for testing the reachable domain index of a robot and a test method using the test system. Background technique [0002] At present, collaborative robots have been used more and more widely, such as welding, handling, machine maintenance and other occasions. If human-machine collaboration is required, the range of activities of the robot needs to be limited to ensure the personal safety of the operator. The position limitation of the robot is mainly through the joint angles of each axis. For example, the position range of a 6-axis collaborative robot is limited to (-170, 170) for each axis, and the torque control is set. When encountering a specific threshold force block, The robot will take emergency stop measures. Then, how to clearly understand the range of activities or workspace of the robot has become an important topic of discussion. The traditional reachability test mainly uses the reachability envelope...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J19/0095B25J9/1602Y02P90/02
Inventor 沈文婷孟敏锐郑军奇
Owner SHANGHAI ROBOT IND TECH RES INST CO LTD
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