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Chinese teaching method of manipulator motion controller

A technology of motion controller and teaching method, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult realization of manipulator teaching, and achieve the effect of simple process and high efficiency

Active Publication Date: 2013-09-25
ZHEJIANG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the disadvantages of the ordinary manipulator teaching device that the manipulator teaching is not easy to realize when the teaching action is complicated, the present invention provides a method for teaching the motion controller of the manipulator that supports Chinese teaching. Teaching without programming, the teaching method is simple and efficient

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  • Chinese teaching method of manipulator motion controller

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Embodiment Construction

[0012] Further description will be made below in conjunction with accompanying drawings.

[0013] refer to Figure 1 A Chinese teaching method for a manipulator motion controller, said method comprising the following steps:

[0014] (1) The trajectory of the manipulator can be understood as the movement of multiple straight lines and curves from an initial point to an end point. When the whole movement of the mechanical arm is a straight line, the movement of the mechanical arm is from P i (x i ,y i ,z i ) to P i+1 (x i+1 ,y i+1 ,z i+1 ) linear motion; and in most cases, the motion track is a combination of some straight lines and arcs, so the present invention divides it into N line segments according to the number of segments of the straight line and the arc on the motion track, that is, there are N+1 intersection points. when point P i move to point P i+1 When it is a straight line, it is realized through linear interpolation; when point P i move to point P i+1...

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Abstract

A Chinese teaching method of the manipulator motion controller comprises the following steps: (1) decomposing a motion track of a manipulator into combination of lines and arcs, dividing the motion track into various segments according to the lines and the arcs on the motion track, namely N+1 intersection points are obtained, performing line inserting if a line is obtained when point Pi moves to point P(i+1), and performing arc inserting if an arc is obtained when the point Pi moves to the point P(i+1); (2) setting an overall speed before teaching actions, setting a local speed in motion of each segment, and executing teaching according to the overall speed set before teaching actions if no local speed is set on the motion of one segment. By means of the motion controller teaching method supporting manipulator teaching in Chinese, teaching in Chinese is performed, programming is not needed, the teaching method is simple in process and high in efficiency.

Description

technical field [0001] The invention relates to a Chinese teaching method for a manipulator controller. Background technique [0002] At present, most domestic industrial occasions use manipulators to complete automatic production tasks, and the demand for teaching pendants used to control various manipulators is also increasing day by day. Teaching is a mode in which the user writes the motion control program corresponding to the machine through the teaching pendant. Usually, the user needs to write the teaching program to realize the flow control of the mechanical movement process and complete the processing of the tool, and the automatic operation will run according to the program set by the teaching. At present, many manipulator control systems are designed and realized by PLC, and the teaching process is generally complicated. Users teach manipulator actions through corresponding machine language programming. But for some occasions where the actions are more complicat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18
Inventor 董辉仲晓帆罗立锋邢科新吴祥高阳李晓宇
Owner ZHEJIANG UNIV OF TECH