Mechanical arm teaching method, device and system

Abstract

The invention discloses a teaching method, device and system of a mechanical arm. The teaching method of the mechanical arm includes: obtaining the teaching action data of the working end, the teaching action data is the data collected by the inertial measurement unit IMU arranged on the working end during the teaching action process; according to the teaching action data Obtain the motion trajectory data and space attitude data of the working end; generate motion commands based on the motion trajectory data and space posture data, and send the motion commands to the robotic arm, so that the robotic arm can complete the actions corresponding to the teaching actions. The present invention displays motion trajectory data and spatial posture data in a three-dimensional environment, generates the desired motion trajectory of the mechanical arm through visualization and simple editing, converts the trajectory into a mechanical arm movement command and sends it to the mechanical arm, so that the mechanical arm completes Teach the corresponding work steps of the action. Compared with the prior art, it has the advantages of improving teaching accuracy and efficiency.

Description

technical field [0001] The invention relates to the technical fields of robot control, inertial navigation, and image positioning, and in particular to a teaching method, device, and system for a mechanical arm. Background technique [0002] In order to make the mechanical arm move with a specific trajectory, an operating device or similar device is usually used. The operating device or similar device is manually operated by the teaching staff to make the mechanical arm move according to the desired action. At the same time, the mechanical Information such as the position stroke of the arm, the stop position angle and height of the manipulator are recorded in the controller, and then the action program of the manipulator is generated based on the recorded data. [0003] When using operating equipment or similar devices to teach the manipulator, the traditional teaching method needs to decompose the action into multiple static actions, and then determine the action informatio...

AI Technical Summary

Problems solved by technology

[0003] When using operating equipment or similar devices to teach the manipulator, the traditional teaching method needs to decompose the action into multiple static actions, and then determine the action information of the manipulator according to the position, height and angle information of each static action. Not only is the workload heavy, but due to the limitation of the precision of the decomposition action, it cannot fully reflect the information of the free movement of the end of the arm of the teaching staff. The teaching is relatively complicated and difficult to complete, which makes the teaching of the robot arm subject to some teaching actions. Or other external conditions, for example, when teaching the mechanical arm to use a grinder to grind the workpiece, since the angle of the grinding sheet needs to be adjusted continuously during the grinding process, it is difficult to make these actions accurately by using the traditional teaching method. Decompose and determine the various information of the action, and the teaching cannot be completed accurately

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