阅读说明：本技术 一种机械臂力柔顺算法测试系统及测试方法 (Mechanical arm force compliance algorithm test system and test method ) 是由 王奉文 卢山 侯月阳 徐帷 张竞天 姜泽华 于 2019-11-25 设计创作，主要内容包括：本发明公开了一种机械臂力柔顺算法测试系统及测试方法,该测试系统包括上位机；机械臂、力传感器和末端工具夹持器,力传感器设置于机械臂的末端,末端工具夹持器设置于力传感器的末端,上位机连接于机械臂、力传感器和末端工具夹持器；插销工具和插销平台,上位机控制机械臂和末端工具夹持器动作将插销工具插入到对应的插销平台。本发明通过配置一套多种具有不同类别、倾角的插销工具逐级验证机械臂力柔顺算法的柔顺性能。(The invention discloses a mechanical arm force compliance algorithm test system and a test method, wherein the test system comprises an upper computer; the system comprises a mechanical arm, a force sensor and a tail end tool holder, wherein the force sensor is arranged at the tail end of the mechanical arm, the tail end tool holder is arranged at the tail end of the force sensor, and an upper computer is connected with the mechanical arm, the force sensor and the tail end tool holder; the upper computer controls the mechanical arm and the tail end tool holder to move so as to insert the bolt tool into the corresponding bolt platform. The invention verifies the compliance performance of the mechanical arm force compliance algorithm step by configuring a set of various plug pin tools with different types and inclination angles.)

1. A mechanical arm force compliance algorithm test system is characterized by comprising:

an upper computer;

the robot comprises a mechanical arm, a force sensor and a tail end tool holder, wherein the force sensor is arranged at the tail end of the mechanical arm, the tail end tool holder is arranged at the tail end of the force sensor, and the upper computer is connected with the mechanical arm, the force sensor and the tail end tool holder;

the upper computer controls the mechanical arm and the tail end tool holder to move so as to insert the bolt tool into the corresponding bolt platform.

2. The robot arm force compliance algorithm test system of claim 1, wherein said latching means comprises a plurality of different types of latching means, each having a different shaped lower end.

3. The system for testing compliance algorithm of robot arm force according to claim 2, wherein said lower end is a tip, and the inclination angle of said tip gradually increases from small to large.

4. The robot arm force compliance algorithm test system of claim 1, wherein said latch platform is provided with latch holes corresponding to differently shaped latch tools.

5. The robot arm force compliance algorithm test system of claim 1, wherein said force sensor is a six-dimensional force sensor.

6. A method of testing using the arm force compliance algorithm test system of any of claims 1-5, the method comprising:

the upper computer controls the tail end tool holder to clamp the same type of bolt tools with different inclination angles, the bolt tools are inserted into corresponding bolt holes of the bolt platform, and meanwhile, the upper computer records data of the force sensor in the task process;

the upper computer controls the tail end tool holder to clamp different types of bolt tools with the same inclination angle, the bolt tools are inserted into corresponding bolt holes of the bolt platform, and meanwhile, the upper computer records data of the force sensor in the task process.

Technical Field

The invention relates to the field of manipulator control, in particular to a system and a method for testing mechanical arm force compliance algorithm.

Background

With the application of the mechanical arm in various industries, the requirements of safety and man-machine cooperation on the compliance property of the mechanical arm are gradually increased. Different from the static flexibility test of the current robot, the compliance capability of the mechanical arm force compliance algorithm is reflected more by dynamic operation, but no unified standard and equipment exist for evaluating the compliance capability of the mechanical arm force compliance algorithm, and further research is needed. The application number is 1611105228.2, the name is a robot flexibility testing device method, the professional robot flexibility testing equipment invented for the robot static force flexibility test cannot meet the testing requirement in the aspect of mechanical arm dynamic flexibility performance test is 1310025296.8, the name is a flexibility testing device and a testing method thereof, the flexibility performance of a testing material is tested, and the flexibility performance of a mechanical arm cannot be tested by the patented system configuration and testing method. The application number is 201720556977.8 and the robot arm testing device and the robot arm testing system monitor the robot arms in the testing frame through the infrared monitors and upload monitored data to the control device, and the problem of robot arm maintenance and detection is solved. In summary, at present, no patent application of a mechanical arm force compliance algorithm test system and a test method exists, and a set of test system is specially built and provides a corresponding test method to solve the test problem of the mechanical arm dynamic compliance algorithm.

Disclosure of Invention

The invention aims to provide a mechanical arm force compliance algorithm test system and a test method, which verify the compliance performance of the mechanical arm force compliance algorithm step by configuring a set of various bolt tools with different types and inclination angles.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the mechanical arm force compliance algorithm test system is characterized by comprising the following components:

an upper computer;

the robot comprises a mechanical arm, a force sensor and a tail end tool holder, wherein the force sensor is arranged at the tail end of the mechanical arm, the tail end tool holder is arranged at the tail end of the force sensor, and the upper computer is connected with the mechanical arm, the force sensor and the tail end tool holder;

the upper computer controls the mechanical arm and the tail end tool holder to move so as to insert the bolt tool into the corresponding bolt platform.

The latching means comprise a plurality of different types of latching means, each having a differently shaped lower end portion.

The lower end part is a pointed end, and the inclination angle of the pointed end is gradually increased from small to large.

The bolt platform is provided with bolt holes corresponding to bolt tools of different shapes.

The force sensor is a six-dimensional force sensor.

A testing method using the arm force compliance algorithm testing system, the method comprising:

the upper computer controls the tail end tool holder to clamp the same type of bolt tools with different inclination angles, the bolt tools are inserted into corresponding bolt holes of the bolt platform, and meanwhile, the upper computer records data of the force sensor in the task process;

the upper computer controls the tail end tool holder to clamp different types of bolt tools with the same inclination angle, the bolt tools are inserted into corresponding bolt holes of the bolt platform, and meanwhile, the upper computer records data of the force sensor in the task process.

Compared with the prior art, the invention has the following advantages:

1. aiming at the dynamic flexible test of the robot, the configuration of a test system is simplified, so that the construction cost of a test platform is lower.

2. The quick replacement of different types of bolt tools is completed through the tail end tool holder, and the test process is time-saving and labor-saving.

Drawings

Fig. 1 is a schematic structural diagram of a mechanical arm force compliance algorithm test system of the present invention.

Detailed Description

The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.

Referring to fig. 1, the mechanical arm force compliance algorithm test system is composed of a mechanical arm 2, an upper computer 1, a six-dimensional force sensor 3, a tail end tool holder 4, a bolt tool 5, a bolt platform 6 and a plurality of data transmission cables 7. The six-dimensional force sensor 3 is arranged at the tail end of the mechanical arm 2; the end tool holder 4 is mounted to the end of the six-dimensional force sensor 3; the upper computer 2 is connected with the mechanical arm 2, the six-dimensional force sensor 3 and the tail end tool holder 4 through a data transmission cable 7, and has the capabilities of loading and running of a compliance algorithm, motion control of the mechanical arm 2, control of the tail end tool holder 4 and data display and recording of the six-dimensional force sensor 3.

Referring to fig. 1, the plugging tool 5 is composed of a set of multiple plugging tools with different types, the plugging tools are provided with ends with round, square and various types, the lower end of each type comprises a flat end and a pointed end, and the inclination angle of the pointed end is gradually increased from small to large.

Referring to fig. 1, the upper computer 1 has the capability of operating a compliance algorithm of the tail end force feedback mechanical arm, controls the tail end tool holder 4 through the data transmission cable 7, can read and display force feedback data of the tail end six-dimensional force sensor 3 in real time, and realizes compliance control of the mechanical arm 2 according to an algorithm operation result.

Referring to fig. 1, the latch platform 6 has latch holes corresponding to different shapes of latch tools.

The testing process of the flexibility testing method comprises the steps that firstly, a mechanical arm flexibility algorithm is injected into an upper computer 1, the upper computer 1 is connected with a mechanical arm 2, a tail end six-dimensional force sensor 3 and a tail end tool holder 4 through a data transmission cable 7, operation of the flexibility algorithm is achieved, and in the testing process, plug pin tools 5 of different types and inclination angles are controlled to be clamped by the tail end tool holder 4 and inserted into a plug pin platform 6.

Further, the invention also provides a test method using the system, in the test process, the feedback value (force control precision), the difficulty degree and the success rate of the terminal six-dimensional force sensor 3 in the process of inserting the bolt tools 5 of different types into the bolt platform 6 are observed and recorded to evaluate the compliance performance: 1) longitudinal comparison and evaluation, the upper computer 1 controls the end tool holder 4 to hold the bolt tools 5 with the same type and different inclination angles, the bolt tools are inserted into corresponding bolt ports of the bolt platform 6, and meanwhile, the upper computer 1 records data of the six-dimensional force sensor 3 in the task process; 2) and transverse comparison and evaluation are carried out, the upper computer 1 controls a holder of a tail end tool holder 4 to hold different bolt tools 5 with the same inclination angle to complete an assembly task, the bolt tools are inserted into bolt ports corresponding to the bolt platforms 6, and meanwhile, the upper computer 2 records data of the six-dimensional force sensor 3 in the task process.

In summary, the system and the method for testing the mechanical arm force compliance algorithm provided by the invention verify the compliance performance of the mechanical arm force compliance algorithm step by configuring a set of various pin tools with different types and inclination angles.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.