Six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system

An industrial robot, tracking control technology, applied in the field of robotics, to achieve the effect of reduced volume, high control precision and wide application range

Inactive Publication Date: 2017-05-10
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the above-mentioned traditional six-axis industrial robot cannot directly and smoothly pull the end effector of the robot to the designated space position, interact with the robot in real time, and store the passing position data

Method used

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  • Six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system
  • Six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system
  • Six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system

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Experimental program
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Embodiment Construction

[0022] like Figure 1-4 As shown, firstly, the six-axis industrial robot controller (14) and the linux-based embedded control system Raspberry Pi (8) complete the parameter initialization, and the circular load unit (1) detects the force at the end of the robot, and then Send to the data storage box (4) through the force signal data input interface (3) for dynamic storage, and then connect the router (13) through the force signal data output interface (5) and Ethernet communication network cable (6), at the same time, the data The storage box (4) will be given an IP address.

[0023]Secondly, the force signal enters the embedded control system raspberry pie (8) based on linux from the raspberry pie Ethernet input interface (7) after passing through the router (13) port. In the system raspberry pie, the force signal will go through six steps. The signal processing process of the force signal decoupling unit (9) and the force coordinate transformation processing unit (10) furth...

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Abstract

A six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system belongs to the technical field of robots. When a six-axis robot teaching box is operated for teaching, a robot end can be directly drawn so that a robot arrives at a preset position along with a drawing force. In a drawing process, direction of the drawing force which is applied to the robot end can be automatically calculated and predicated, and a six-axis robot end automatically performs pose adjustment. Not only are smoother dragging track and higher control precision realized, but also shorter time in a teaching process is obtained. A six-axis force sensor senses an instruction which is input into the sensor by an operator so that a six-axis industrial robot controller automatically records the current position, and furthermore along with instruction change, the six-axis industrial robot controller is automatically switched to a grabbing function, thereby realizing simple operation. In communication, data exchange is performed based on industrial Ethernet. An embedded system is introduced for processing data. Therefore the six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system has advantages of short response time, high practicability, high transplantability, high application value, etc.

Description

technical field [0001] The invention mainly relates to an industrial robot teaching system, which belongs to the technical field of robots, in particular to an accurate trajectory tracking teaching system used in the teaching process of a six-axis industrial robot. Background technique [0002] Six-axis industrial robots are typical manufacturing equipment in the field of industrial automation. In order for industrial robots to perform tasks such as handling, they need to be taught or programmed offline. At present, most of the traditional six-axis industrial robot teaching systems adopt the indirect teaching method. By operating the teaching box to move the robot to the designated position, and then manually operating the teaching box to record the passing position, this teaching method has great impact on the operation The relevant knowledge reserve requirements of personnel are relatively high, the efficiency is low, and the process is complicated. However, in practical ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 蔡力钢柳英杰刘志峰杨聪彬胡宗兆
Owner BEIJING UNIV OF TECH
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