Remote real-time control method, based on demonstrative articulated arm, for industrial robot

Abstract

The invention relates to a remote real-time control method, based on a demonstrative articulated arm, for an industrial robot. According to the remote real-time control method, the demonstrative articulated arm is operated according to a visual feedback system; each joint of the demonstrative articulated arm is equipped with an angle sensor; each angle sensor is connected with an angle data acquiring module through SSI communication; each angle data acquiring module is in communication connection with a motion controller of the industrial robot through a K-BUS; the industrial robot connected with the demonstrative articulated arm has OPC protocol communication with a computer system through the motion controller; the computer system is used for calculating the force moment required by eachshaft motor of the industrial robot; the robot can follows the motion of the demonstrative articulated arm by virtue of a driver force torque closed-loop control system given by the motion controller; in a motion process of the industrial robot, the motion route of the industrial robot is recorded according to a preset position acquisition frequency and a motion interpolation mode, and a motion code is generated for realizing demonstration representation. The remote real-time control method has the advantages of making an operator keep away from a severe operation environment of the scene andimproving the efficiency.

Description

technical field [0001] The invention relates to a remote real-time control method of an industrial robot based on a teaching articulated arm. Background technique [0002] With the continuous expansion of the application field of industrial robots, some relatively harsh working environments will inevitably appear. If the staff operates the robot on site for a long time, it will cause great harm to the personal safety and physical and mental health of the operator, especially in harsh environments. , the time is tight, there are many types of products, and the structural surface is complex, etc., the traditional teaching method of the industrial robot teaching box can no longer meet the demand, and this teaching method requires programmers to have high professional knowledge and skills, which is difficult to popularize and apply. Contents of the invention [0003] The object of the present invention is to solve the above problems and provide a remote real-time control metho...

AI Technical Summary

Problems solved by technology

[0002] With the continuous expansion of the application field of industrial robots, some relatively harsh working environments will inevitably appear. If the staff operates the robot on site for a long time, it will cause great harm to the personal safety and physical and mental health of the operator, especially in harsh environments. , the time is tight, there are many types of products, and the structure surface is complex, etc., the traditional teaching method of industrial robot teaching box can no longer meet the demand, and this teaching method requires programmers to have high professional knowledge and skills, which is difficult to popularize and apply

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