一种基于机器人平台开发的多参数综合试验系统校准方法

针对工业机器人因长期工作导致的各项技术指标产生变化等问题，提出一种基于机器人平台开发的多参数综合试验系统校准方法。搭建由工业机器人系统、AGV小车、末端执行器、真空拉伸力测试系统和离线编程软件组成的拉伸力智能测试系统，根据机器人拉伸力智能测试系统的特点，通过对机器人定位子系统、视觉测量子系统和拉伸力测试子系统的校准方法进行设计和验证，试验数据结果与参考值相符，验证了该多参数综合试验系统校准方法的可靠性。

A Multi-parameter Integrated Test System Calibration Method Based on Robot Platform Development

Aiming at the problems of changes of various technical indicators caused by long-term work of industrial rob,a multi-parameter integrated test system calibration method based on robot platform development was proposed.An intelligent testing system for tensile force consisting of industrial robot system,AGV cart,end-effector,vacuum tensile force testing system and off-line programming software was built.According to the characteristics of the robot tensile force intelligent test system,the calibration methods for robot positioning subsystem,vision measurement subsystem and tensile force testing subsystem were designed and validated.The test results are consistent with the reference values,which verifies the accuracy of the calibration method of this multi-parameter integrated test system.