CN106610583A - Robot tail end position obtaining method based on sensor - Google Patents
Robot tail end position obtaining method based on sensor Download PDFInfo
- Publication number
- CN106610583A CN106610583A CN201510689324.5A CN201510689324A CN106610583A CN 106610583 A CN106610583 A CN 106610583A CN 201510689324 A CN201510689324 A CN 201510689324A CN 106610583 A CN106610583 A CN 106610583A
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- light sensor
- robot
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- sensor
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 25
- 230000001960 triggered effect Effects 0.000 claims abstract description 13
- 230000006641 stabilisation Effects 0.000 claims abstract description 12
- 238000011105 stabilization Methods 0.000 claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 7
- 230000002085 persistent effect Effects 0.000 claims description 4
- 238000012795 verification Methods 0.000 claims description 4
- 230000003252 repetitive effect Effects 0.000 description 5
- 230000000977 initiatory effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to the technical field of robot control, and especially relates to a robot tail end position obtaining method based on a sensor. The method comprises the following steps: setting software parameters, and starting the collection of data; judging whether a light sensor is triggered or not when the robot gets close to a probe of a test platform; judging whether the triggering duration is greater than the stabilization time of software setting or not if the light sensor is triggered; recording the data, collected by an industrial personal computer, of a dial indicator, waiting for non-triggering to reset the light sensor, and entering next test. According to the technical scheme of the invention, the method mainly solves a problem of repeated positioning precision when no protocol test robot is employed. For some robots which cannot meet the above needs, the method avoids the demands, and nearly can test all industrial robots.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of sensor-based robot end's location acquiring method.
Background technology
Repetitive positioning accuracy test be industrial robot end it is repeated multiple times run to it is inclined between a certain identical point actual bit in space
Difference, robot measurement terminal position is exactly robot end's x, y, z coordinate figure in space, typically adopts 3 pieces of amesdials,
Fixation is mutually perpendicular on the top of the shelf two-by-two, measures the coordinate figure of x, y, z axle respectively.For convenience of processing data, using industrial computer
The data value of 3 pieces of amesdials of collection, result is stored in EXCEL.
Original repetitive positioning accuracy test platform, needs are connected with robot control cabinet by special agreement
On the opportunity of collection data, most of switch board is not supported the agreement, causes to be surveyed using original repetitive positioning accuracy test platform
Examination.
The content of the invention
For the deficiencies in the prior art, the present invention provides a kind of robot end's location acquiring method.The technical side of the method for testing
Case is：Software parameter is set, starts the collection of data；When robot is close to the probe of test platform, light sensor is judged
Whether it is triggered；Light sensor is triggered, and judges whether the triggering persistent period is more than the stabilization time of software design patterns；Record work
After the amesdial data of control machine collection, non-toggle is waited to reset light sensor, into test next time.
Preferably, before the arrange parameter, the drive software of light sensor is copied on industrial computer.
Preferably, the test interface of the software includes：Sweep spacing, verification number of times, stabilization time, state, beginning and knot
Beam.
Beneficial effects of the present invention are：The technical program mainly solution never using the protocol test robot repetitive positioning accuracy side
Method.For partial robotic cannot meet the robot of above demand, the design has avoided the demand, so as to new method can be surveyed
Try almost all of industrial robot.
Description of the drawings
Fig. 1 is a kind of sensor-based robot end's location acquiring method flow chart of the present invention.
Specific embodiment
Technical solution of the present invention with the addition of one beside test probe on the basis of original repetitive positioning accuracy test platform
Light sensor, for detecting whether industrial robot end is close to probe.
1 pair of specific embodiment of the invention is described further below in conjunction with the accompanying drawings：
S1：Software parameter is set, starts the collection of data.
The drive software of light sensor is copied on industrial computer, the test interface of the software includes：Sweep spacing, verification time
Number, stabilization time, state (startup situation), beginning and end.Before test, according to different testing requirements, can arrange soft
The parameter of part, it is general in the case of the parameter that arranges and parameter declaration it is as follows：
Sweep spacing：Refer to the sweep spacing of sensor, generally 100ms (0.1s), generally, this parameter is not
Suggestion modification.
Verification number of times：Before referring to triggering collection data, the number of times that sensor is continuously verified, generally 100 times.
Stabilization time：Refer to that light sensor starts to be triggered to the time of gathered data, it can be understood as need after collision block contact amesdial
Time that will be stable, it is also equal to sweep spacing X amounts of testing, generally 10000ms (10s).In robot teaching operation
When, the time of staying of contact point must be more than the stabilization time for arranging.
State (startup situation)：The state of software is shown, is divided into " normal ", " beginning ", " end ".After software normally starts
" normal " is shown as, " beginning " during by initiating key, is shown as, and " end " is then shown as by end key.
Start：After clicking on initiating key, software starts gathered data, now shows " beginning " in state (startup situation).
Terminate：After clicking on end key, software terminates gathered data, now shows " beginning " in state (startup situation).
S2：When robot is close to the probe of test platform, judge whether light sensor is triggered.
When robot is close to the probe of test platform, judge whether light sensor is triggered, if be triggered, continue step
Rapid S3, if be not triggered, repeat step S1.
S3：Light sensor is triggered, and judges whether the triggering persistent period is more than the stabilization time of software design patterns.
After light sensor is triggered, counting starts, and judges whether the triggering persistent period is more than the stabilization time of software design patterns.
Such as larger than stabilization time, then into step S4, otherwise return to step S1.
S4：After the amesdial data of record industrial computer collection, non-toggle is waited to reset light sensor, into test next time.
More than industrial computer collection amesdial data when arranging stabilization time between when activated, and data are stored in Microsoft Excel,
Wait non-toggle to reset light sensor afterwards, after replacement, be again introduced into loop test.
Merely illustrating the principles of the invention described in above-described embodiment and description and most preferred embodiment, without departing from essence of the invention
On the premise of god and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within this claimed
In bright scope.
Claims (3)
1. a kind of sensor-based robot end's location acquiring method, it is characterised in that comprise the following steps：
Software parameter is set, starts the collection of data；
When robot is close to the probe of test platform, judge whether light sensor is triggered；
Light sensor is triggered, and judges whether the triggering persistent period is more than the stabilization time of software design patterns；
After the amesdial data of record industrial computer collection, non-toggle is waited to reset light sensor, into test next time.
2. the method for claim 1, it is characterised in that before the arrange parameter, by the driving of light sensor
Software copy is on industrial computer.
3. the method for claim 1, it is characterised in that the test interface of the software includes：Sweep spacing, verification
Number of times, stabilization time, state, beginning and end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689324.5A CN106610583A (en) | 2015-10-22 | 2015-10-22 | Robot tail end position obtaining method based on sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689324.5A CN106610583A (en) | 2015-10-22 | 2015-10-22 | Robot tail end position obtaining method based on sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106610583A true CN106610583A (en) | 2017-05-03 |
Family
ID=58611478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510689324.5A Pending CN106610583A (en) | 2015-10-22 | 2015-10-22 | Robot tail end position obtaining method based on sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106610583A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202735070U (en) * | 2012-06-13 | 2013-02-13 | 沈阳机床(集团)有限责任公司 | Testing stand for knife rest performance test |
| US20140031956A1 (en) * | 2008-12-04 | 2014-01-30 | Io Data Centers, Llc | Data center intelligent control and optimization |
| CN103837741A (en) * | 2014-03-12 | 2014-06-04 | 河南科技大学 | Equal-precision frequency testing system based on FPGA and design method thereof |
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104236466A (en) * | 2014-09-30 | 2014-12-24 | 四川泛华航空仪表电器有限公司 | Measuring system for detecting repeated positioning accuracy of manipulators |
| CN104279952A (en) * | 2013-11-14 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Robot track precision measuring method |
-
2015
- 2015-10-22 CN CN201510689324.5A patent/CN106610583A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140031956A1 (en) * | 2008-12-04 | 2014-01-30 | Io Data Centers, Llc | Data center intelligent control and optimization |
| CN202735070U (en) * | 2012-06-13 | 2013-02-13 | 沈阳机床(集团)有限责任公司 | Testing stand for knife rest performance test |
| CN104279952A (en) * | 2013-11-14 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Robot track precision measuring method |
| CN103837741A (en) * | 2014-03-12 | 2014-06-04 | 河南科技大学 | Equal-precision frequency testing system based on FPGA and design method thereof |
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104236466A (en) * | 2014-09-30 | 2014-12-24 | 四川泛华航空仪表电器有限公司 | Measuring system for detecting repeated positioning accuracy of manipulators |
Non-Patent Citations (1)
| Title |
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| 贾贻春: "工业机器人重复定位精度微机测试系统", 《机械工业自动化》 * |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant after: Shenyang Xinsong Robert Automation Co., Ltd. Applicant after: Chinese Academy of Sciences Holdings Limited Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant before: Shenyang Xinsong Robert Automation Co., Ltd. Applicant before: State owned Assets Management Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170503 |