A method and device for measuring the repeatability of the position and attitude of a robot actuator

Abstract

The invention provides a method and a device for measuring the repeatability of the pose of a robot actuator. The point cloud of a standard object containing plane features is obtained through a 3D vision sensor, and the repeatability of the pose of the robot actuator is measured by calculating the statistical characteristics of the plane features. It has the advantages of high stability of measurement accuracy, simple operation, convenient setup, low cost, high efficiency, rich measurement information, and easy to simulate the repeatability under load conditions.

Description

technical field [0001] The invention relates to the technical field of robot testing, in particular to a method and a device for measuring the repeatability of the position and attitude of a robot actuator. Background technique [0002] The position and orientation accuracy of the robot actuator is an important index reflecting the performance of the robot, and it is of great significance for the industrial robot to maintain a stable working state. [0003] At present, the most recognized method on the market is the laser tracker. On the one hand, the laser tracker itself is expensive. low efficiency. In addition, some combined laser rangefinder / dial indicator devices obtain the repeatability of the translational attitude of the robot actuator through three sensors in two verticals, but the repeatability of the rotation attitude cannot be characterized yet. There is also a laser transmitter at the end of the robot actuator, and the repeatability is tested by visually shoot...

AI Technical Summary

Problems solved by technology

[0003] At present, the more recognized method on the market is the laser tracker. On the one hand, the laser tracker itself is expensive. low efficiency

In addition, some combined laser rangefinder / dial indicator devices obtain the repeatability of the translational pose of the robot actuator through two vertical three sensors, but it is not yet possible to characterize the repeatability of the rotational pose

There is also a laser transmitter at the end of the robot actuator, and the repeatability is tested by visually photographing the photoelectricity of the laser transmitter on the reflector. On the one hand, the 2D camera is greatly affected by the illumination factor, and on the other hand, the single-point measurement itself The volatility is also large

In addition, more attention is paid to the repeatability of robotic actuators under actual load conditions, and these current test methods generally cannot characterize the repeatability of robotic actuators under actual load conditions

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