摘要
In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of the working space. All possible cubes are searched, and the cube with the maximum volume is selected. The calculation examples show that the method of growth can be used for a variety of industrial robots. The method of growth can determine the test cube and test points of irregular working space according to ISO 9283, and can avoid blindness and randomness in the selection of test points.
求取ISO 92 83所规定的工业机器人的测试立方体 .籽立方体在不规则的机器人工作空间中生长 ,其顶点不超出工作空间 .搜索所有可能的立方体 ,选择其体积最大者 .计算实例表明 ,生长法可用于各种工业机器人 .生长法可按ISO 92 83的规定确定不规则工作空间中的测试立方体和测试点 。
