Desktop industrial robot teaching system and method based on wearable device

Abstract

The invention discloses a desktop industrial robot teaching system and method based on a wearable device. The teaching system comprises a teaching data obtaining part, a data processing part and an industrial robot; the teaching system obtains eulerian angles at the positions of all sensors on a human body arm so as to calculate the position of the tail end of the arm and the rotating angles of all joints, discrete motion data are subject to coded representation and generalized output, and the continuous arm tail end motion track and the corresponding joint rotating angle are obtained. According to the tail end position, the robot is subject to kinematics inverse solution, multiple sets of inverse solutions are obtained, according to the rotating angles of the corresponding joints, the multiple sets of inverse solutions are evaluated, and an inverse solution nearest to the arm gesture is selected to serve as the robot joint angle. According to the teaching system, teaching can be achieved without a teaching box or dragging of a mechanical arm, teaching of the industrial robot can be achieved only according to normal manual operation, and the teaching efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a wearable device-based desktop industrial robot teaching system and method. Background technique [0002] Various six-degree-of-freedom manipulators are widely used in current automated production systems due to their flexibility in movement and rationality in mechanism design. The main task of a robot is to replace humans in repetitive, poor-environment, and highly dangerous manual operations. The premise of its completion is to issue instructions to the robot in advance, specifying the specific content of the actions and tasks that the robot should complete. teaching. Teaching reproduction is a programming method commonly used by robots, which requires the operator to use the teaching box to repeatedly adjust the operating parameters of the robot at each teaching point. After the whole teaching process is over, the robot works repeatedly according to the recorded data. H...

AI Technical Summary

Problems solved by technology

The existing teaching and reproduction system has high requirements on the operator's operating skills, the teaching process is cumbersome, time-consuming and inefficient

In order to increase the teaching speed, most manipulator control systems provide a teaching box with convenient operation, but this method still cannot fundamentally improve the teaching efficiency of the six-degree-of-freedom manipulator

Images