Test And Evaluation Of The Motion Performance Of Industrial Robot Based On Laser Tracker

Aiming at the problems of single evaluation parameters,mixed evaluation standards,and lack of evaluation software in the existing industrial robot movement performance evaluation,Proposes a scheme suitable for 6 complete machine sports performance tests,Built a dynamic tracking measurement system required for testing,At the same time,the corresponding evaluation software has been developed to assist users in solving the problems of robot selection and maintenance.Based on the measurement requirements of the six machine motion performance of industrial robots' pose accuracy and pose repeatability,position stabilization time,position overshoot,Completed the construction of the dynamic tracking measurement system,as well as the demand analysis of motion performance evaluation software,Built a test system for dynamic tracking measurement,Researched and determined the overall test plan and process,Built a two-tier architecture for performance evaluation software,And summarized the key technologies in software development.Using Leica laser tracker and mechanical control sensor T-Mac as the main test equipment,Realized the construction of the measurement system;Researched and determined every sports performance test method;Through the definition analysis of 6 sports performance,The repeatability calculation based on the least square method and the position stability time calculation based on the interpolation method are proposed.And applied to the software algorithm processing module.Based on the GUI development environment under the MATLAB platform,a set of sports performance evaluation software is developed,It realizes the functions of data reading,data preprocessing,algorithm processing,parameter calculation,generating three-dimensional graphs and columnar evaluation graphs.An experimental platform was built with Leica laser tracker AT901-MR,mechanical control sensor T-Mac and Huazhong CNC HSR-JR612 industrial robot as the main test equipment,completed the test of 6 sports performance,and imported the test data into the sports performance Evaluation software,obtained curve parameter graph and evaluation result histogram for analysis,Finally,it was compared with the test data of Hangzhou Yiheng Company,which verified the feasibility of the test plan and the correctness of the sports performance evaluation software.