机器人操作器姿态性能的自动测量

AUTOMATIC MEASUREMENT OF ACTUATOR POSTURE AND CHARACTERISTICS

本文介绍了作者在里昂国立应用科学学院工业自动化实验室发展的一个无机械接触的姿态性能自动测量系统.该系统由测量头、靶子和数据采集、处理子系统构成.测量头是一铅质直角三面体.其上装有六个感应式位移传感器;靶子是一钢质直角三面体.与被测机器人相联接;靶子相对测量头的姿态可根据传感器给出的距离数据算出,一台微计算机管理着数据的自动采集处理以及与机器人控制器之间的通信与协调动作,对两台机器人进行的实际测量应用.已展示了一些有意义的结果;同时也表明,该测量系统可以在工业环境中可靠和方便地用于多种工业机器人的姿态重复性和动态性能的测试,并且具有造价低,适应性强和自动化程度高等特点.

The system developed by us consists of measuring head, target,and a subsystem for data collection and pro-cessing. Six displacement sensors of inductive type are mounted on the measuring head. The target is connected tothe robot under measurement. The data of target posture relative to the measuring head may be calculated inaccordance with the distances data from the sensors. A microcomputer supervises the automatic collection andprocessing of data, the communication and coordinating action between it and the robot controller. Actualmeasurements on two robots have revealed some results with certain significance.