Method and device for detecting joint rigidity of robot and robot

Abstract

The invention provides a method and device for detecting the joint rigidity of a robot and the robot. The method comprises the steps: controlling a mechanical arm to grab a load, controlling a joint to rotate to a preset angle, detecting the position of a current first measuring point and the position of the rotation center of the joint, and obtaining a first position and a second position respectively, wherein the first measuring point is any point on the mechanical arm; controlling the mechanical arm to put down the load, controlling the joint to rotate to a preset angle, and detecting the current position of the first measuring point and the position of the rotation center of the joint to obtain a third position and a fourth position respectively; determining an angular deviation according to the first position, the second position, the third position and the fourth position; detecting the torque of the joint, and calculating the torsional rigidity of the joint according to the torque and the angular deviation; and determining whether the joint meets the rigidity design requirement or not according to the torsional rigidity of the joint. The problem that whether the joint rigidity of the robot meets the design requirement or not is difficult to determine in the prior art is solved.

Description

technical field [0001] The present application relates to the technical field of robots, in particular, to a detection method, device, computer-readable storage medium, processor and robot for joint stiffness of a robot. Background technique [0002] At the beginning of the design of industrial robots, most designers will check and simulate each joint arm of the industrial robot. However, the joint stiffness has the greatest impact on the overall stiffness of the industrial robot; compared to the deformation of the joint arm of the industrial robot In terms of size, the deformation of the joints in the whole machine is due to the multi-level cooperation of the reducer, the input shaft of the reducer and the motor, etc., the part with the largest deformation in the actual working condition of the entire industrial robot is precisely caused by the reducer, reducer At the joints composed of machine input shafts and motors, there is an urgent need for a detection method to allow...

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Problems solved by technology

[0004] The main purpose of this application is to provide a detection method, device, computer-readable storage medium, processor and robot for the joint stiffness of a robot, so as to solve the problem in the prior art that it is difficult to determine whether the joint stiffness of the robot meets the design requirements

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