基于三基站协同的工业机器人动态轨迹测量方法

Dynamic Trajectory Measurement Method of Industrial Robot Based on Three Base Stations Cooperation

工业机器人轨迹特性是衡量其运动性能的14个关键指标之一。针对工业机器人动态轨迹测量中姿态数据测量时间长、时序对齐计算复杂度大的问题,提出基于三基站协同的工业机器人动态轨迹测量方法。实验结果表明,与基于单基站的工业机器人动态轨迹测量方法相比,本文提出的方法不仅可以减少近2/3的测量时间,而且可以显著提升工业机器人动态轨迹测量精度。

The trajectory characteristic of industrial robot is one of the 14 key indexes to measure its motion performance.Aiming at the problems of long measurement time of attitude data and high computational complexity of timing alignment in dynamic trajectory measurement of industrial robot,a dynamic trajectory measurement method of industrial robot based on three base stations cooperation is proposed.The experimental results show that compared with the dynamic trajectory measurement method of industrial robot based on single base station,the method proposed in this paper can not only reduce the measurement time by nearly 2/3,but also significantly improve the accuracy of dynamic trajectory measurement of industrial robot.