Method for measuring and evaluating jitter degree of tail end of industrial robot

Abstract

The invention relates to the technical field of robot performance testing, in particular to a method for measuring and evaluating the jitter degree of the tail end of an industrial robot. The method comprises the following specific steps: S100, installing a vibration acceleration sensor; S200, determining a robot jitter test track; S300, collecting joint motor current data during operation of the robot through a driver by a computer, and collecting vibration acceleration data by the vibration acceleration sensor; S400, calculating a joint motor current fluctuation range value by the computer, and calculating a vibration acceleration result by the computer; S500, calculating the correlation between a current fluctuation range value result and a vibration acceleration test result; and S600, generating a robot jitter test report by the computer. Subjective evaluation of existing robot jitter is changed into objective quantitative measurement through the vibration acceleration sensor, the robot jitter degree can be quantitatively measured and described, collection is simple and convenient, the measurement time is short, the equipment cost is low, and the personnel requirement is low.

Description

technical field [0001] The invention relates to the technical field of robot performance testing, in particular to a method for measuring and evaluating the shake degree of an industrial robot end. Background technique [0002] Due to the advantages of multiple degrees of freedom, large working space, repeatable programming, and automatic control, industrial robots have achieved multi-functional applications such as palletizing, handling, and spraying in industries such as automobiles, 3C electronics, home appliances, and photovoltaics. However, in high-precision industry applications, such as laser welding, gluing, high-precision handling, etc., higher requirements are placed on industrial robots, such as robots that cannot shake. Moreover, the shaking of the robot greatly affects the user experience. Based on the current development status of robots, it is mainly to qualitatively describe whether jitter occurs, that is, to rely on naked eye observation to evaluate jitter,...

AI Technical Summary

Problems solved by technology

Moreover, robot shaking greatly affects the user experience

Based on the current status of robot development, it is mainly to qualitatively describe whether the jitter occurs, that is, to rely on naked eye observation to evaluate the jitter, and there is no quantitative data and indicators to measure it.

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