机器人轨迹精度测试方法的研究

Accurate measurement of robot track

工业机器人的大量使用 ,迫切需要对其轨迹精度进行测试 .在研究了几种机器人轨迹精度测试方法的基础上 ,结合具体的应用实例 ,分析了杆件参数与测试空间的关系 ,为优化系统杆件参数提供了依据 .根据测试系统的结构特点 ,建立了绝对的机械随动式测量方法的数学模型 ,完善了其测量原理 .针对系统软硬件设计过程中遇到的实际问题提出了具体的解决方法 .实际应用证明 ,该测试系统完全满足设计要求 ,并且具有采样频率高、稳定性好、操作简单、运行可靠等特点 。

The wide application of industrial robots justifies the necessity to measure their tracks accurately. The relationship between the parameters of rods and the measuring space is analysed by comparison of several ways in order to measure the robot tracks accurately with specific applications as typical examples for optimization of rod parameters. From the structural features of the measuring system, a mathematic model is constructed for the absolutely mechanical follow-up system to perfect its operating principle. Solutions are proposed for the actual problems encountered during system design from hardwares and softwares. Actual applications show that this measuring system is in full compliance with the design requirements, features high sampling rate, good stability, simple and reliable operation, and can be used as a general measuring system for robot tracks.