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Robot online teaching device, system, method and equipment base on reality enhancing

An augmented reality, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to solve problems such as obstacle collisions and physical robot damage

Active Publication Date: 2018-06-15
QINGDAO TECHNOLOGICAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing robot online teaching system uses the teaching programmer to control the movement of the physical robot. If the operator does not operate properly, the physical robot will collide with the surrounding obstacles, causing the physical robot to be damaged.

Method used

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  • Robot online teaching device, system, method and equipment base on reality enhancing
  • Robot online teaching device, system, method and equipment base on reality enhancing
  • Robot online teaching device, system, method and equipment base on reality enhancing

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] see figure 1 , a robot online teaching device based on augmented reality, comprising a teaching manipulator 1, an orientation tracking sensor 2, a virtual robot model positioner 3, an augmented reality display 4 and a computer 5, the teaching manipulator 1, an orientation tracking sensor 2. The augmented reality displays 4 are all connected to the computer 5; the operator holds the teaching manipulator 1, and the operation data sent by the teaching manipulator 1 is transmitted to the computer 5; the azimuth tracking sensor 2 is used to To detect the feature information on the operator's head and the virtual robot model locator 3, and send the feature information to the computer 5; the virtual robot model locator 3 is used to locate the virtual robot model 16 in the real environment and send it to the computer 5; the computer 5 processes the received data, and sends the processing result to the teaching operator 1 and the augmented reality display 4, and the teaching ope...

Embodiment 2

[0065] key points please refer to figure 2 and image 3 , a robot online teaching system based on augmented reality, including a feed calculation module 7, a robot forward kinematics model 8, a virtual robot rendering module 10 and an orientation tracking module 11;

[0066] The feed calculation module 7 receives the operation data from the teaching manipulator 1 through the communication module 6 in the computer 5 to generate the feed amount of each feed axis of the robot and the control instructions of each action module, and sends it to the Communication module 6, robot forward kinematics model 8 and virtual robot rendering module 10, through said communication module 6, said feed amount and control instructions are sent to said teaching manipulator 1 for display; said feed Quantities include angular displacement or linear displacement;

[0067] The forward kinematics model 8 of the robot calculates the position and attitude of the end point of the robot according to the...

Embodiment 3

[0075] see image 3 , an online teaching method for a robot based on augmented reality, comprising the following steps:

[0076] Step 1. Receive the operation data from the teaching operator 1 through the communication module 6 in the computer 5, and generate the feed amount of each feed axis of the robot and the control instructions of each action module, and send them to the communication module 6. Send the feed amount and control instructions to the teaching operator 1 through the communication module 6 for display;

[0077] Simultaneously, collect feature information by orientation tracking sensor 2, then calculate the position and attitude of virtual robot model locator 3 and operator in the physical coordinate system; feature information;

[0078] Step 2. Calculate the position and attitude of the end point of the robot according to the feed amount and control instructions, and send the position and attitude data of the end point to the teaching operator 1 through the ...

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PUM

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Abstract

The invention relates to a robot online teaching system based on reality enhancing. The robot online teaching system comprises a teaching manipulator, an orientation tracking sensor, a virtual robot model positioning device, a reality enhancing displayer and a computer. The computer comprises a storage, a processor and a communication module. Programs are stored in the storage, and the programs comprise a feeding calculation module, a robot forward kinematics model, a robot control logic and failure arrangement module, a virtual robot rendering module and an orientation tracking module. In therobot online teaching system, operation personnel can drive a virtual robot model to move through the physical teaching manipulator, and superpose the virtual robot model into a real scene by enhancing a reality technology, teaching training or teaching programming can be conducted without a physical robot, the safety of robot teaching training is improved, the cost is lowered, and the robot online teaching system can be widely applied to teaching and teaching programming.

Description

technical field [0001] The invention relates to a robot online teaching and training system based on augmented reality, which belongs to the field of robot and computer application. Background technique [0002] The existing robot teaching training is generally that the operator manually controls the joint movement of the robot through the teaching pendant, so that the robot moves to a predetermined position, and at the same time records the position and transmits it to the robot controller. The task can be repeated automatically according to instructions, and the operator can also choose a different coordinate system to teach the robot. Just as the publication number is CN104552300A "An off-line programming teaching device and method based on teaching robot", this technical solution records the movement and rotation information of the corresponding kinematic pairs on the joint arm respectively through the position sensor of the data acquisition system; And the recorded mov...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1605B25J9/161B25J9/1676
Inventor 陈成军张石磊李东年洪军
Owner QINGDAO TECHNOLOGICAL UNIVERSITY
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