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Method and device for programming robot motion sequence

A technology of robot motion and programming method, which is applied to the field of programming method of robot motion sequence and its device, can solve the problems that the programming method is highly specialized and unsuitable for non-professional personnel, etc., and achieves the effect of intuitive and convenient operation and widening of popularization.

Active Publication Date: 2009-11-04
SHANGHAI XPARTNER ROBOTICS
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide a programming method and device for a robot motion sequence in order to overcome the defects that the prior art programming method is too professional and not suitable for non-professional personnel to operate

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  • Method and device for programming robot motion sequence
  • Method and device for programming robot motion sequence
  • Method and device for programming robot motion sequence

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Embodiment Construction

[0069] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail.

[0070] The programmer adopted in all embodiments is based on the software platform of PC and Windows operating system, and the three-dimensional simulation model adopts OPENGL to write.

[0071] The multi-joint robot in the embodiment uses a humanoid robot as an example, and the humanoid robot is composed of a main controller and 18 joint modules. The main controller uses ARM9 microprocessor, and the motion joint module adopts AI-Servo (intelligent servo motor) sold by Guangmaoda Partner Robot Co., Ltd. The main controller is connected to the programmer on the PC through the USB cable. The controller communicates with each AI-Servo through the 485 bus. Each AI-Servo contains an ATMega8 microcontroller, sensors, motors and motor drive circuits. Each AI-Servo has a separate ID on the 485...

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Abstract

The invention discloses a method and a device for on-line programming for a robot motion sequence. The method comprises the following steps: S1, setting an initial pose of a robot by a user; S2, setting a plurality of poses during the motion of the robot, and storing the poses as a series of key motion frames; S3, automatically generating connection motion frames connected with the series of key motion frames by a motion sequence generator; S4, adjusting the key motion frames or the connection motion frames; S5, converting the motion sequence into a program control code executed by the robot by a code generator; and S6, loading the program control code into the robot. The invention also discloses a method and a device for off-line programming for the robot motion sequence. The operation is more intuitive and convenient, no professional knowledge is needed, the universality of robot motion sequence programming is enlarged, and the programming can be widely used by nonprofessional people. Simultaneously, the method and the device can be popularized for motion programming of all robots with a plurality of joints.

Description

technical field [0001] The invention relates to a programming method of robot motion, in particular to a programming method of robot motion sequence and its device. Background technique [0002] In order for the robot to complete an action or realize a behavior, it is necessary to issue instructions to the robot in advance, stipulating the specific content of the action that the robot will perform, that is, to realize the programming of its motion sequence. As robots become more complex, the programming of robot motion sequences becomes more and more complex. How to program the motion sequence of the robot more intuitively, vividly, and easily is becoming more and more important. [0003] For this reason, there are many programs on the market, such as the programming of Robotic Studio robot development software of Microsoft Corporation, which adopts a graphical programming method and does not need to write codes. It only needs to drag in the corresponding graphics module, s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00G05B19/42
Inventor 李通
Owner SHANGHAI XPARTNER ROBOTICS
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