Programming method and device for robot motion sequence

A technology of robot motion and programming method, applied in the field of programming method and device of robot motion sequence, can solve the problems of unsuitability for non-professional personnel, strong professional programming method, etc., achieves the effect of intuitive and convenient operation and widening the popularity.

Active Publication Date: 2012-02-08
SHANGHAI XPARTNER ROBOTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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  • Programming method and device for robot motion sequence
  • Programming method and device for robot motion sequence
  • Programming method and device for 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 an online programming method and device for a robot motion sequence. The method includes the following steps: S1, the user sets the initial pose of the robot; S2, sets several poses during the robot motion, and saves them as a A series of key motion frames; S3, the motion sequence generator automatically generates the connected motion frames connecting the series of key motion frames; S4, adjusts the key motion frame or connects the motion frames; S5, the code generator converts the motion sequence into a program executed by the robot Control code; S6, load the program control code into the robot. The invention also discloses an off-line programming method and device for robot motion sequences. The invention makes the operation more intuitive and convenient, does not require professional knowledge, expands the popularization of robot motion sequence programming, and enables it to be widely used by non-professional personnel. At the same time, the present invention can be popularized to the programming of all multi-joint robot motions.

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 Patents(China)
IPC IPC(8): B25J9/16B25J13/00G05B19/42
Inventor 李通
Owner SHANGHAI XPARTNER ROBOTICS
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