Desktop industrial robot teaching system and method based on wearable device

A technology of industrial robots and wearable devices, applied in the field of automation, can solve problems such as the inability to fundamentally improve the teaching efficiency of the six-degree-of-freedom manipulator, the high requirement for operating skills, and the cumbersome teaching process.

Active Publication Date: 2017-11-21
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing teaching and reproduction system has high requirements on the operator's operating skills, the teaching process is cumbersome, time-consuming and inefficient
In order to increase the teaching

Method used

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  • Desktop industrial robot teaching system and method based on wearable device
  • Desktop industrial robot teaching system and method based on wearable device
  • Desktop industrial robot teaching system and method based on wearable device

Examples

Experimental program
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Embodiment 1

[0057] figure 1 A schematic structural diagram of a wearable device-based desktop industrial robot teaching system provided by Embodiment 1 of the present invention, figure 2 It is a schematic diagram of information transmission of the wearable device-based desktop industrial robot teaching system provided by Embodiment 1 of the present invention. like figure 1 and figure 2 As shown, the desktop industrial robot teaching system based on wearable devices provided in this embodiment includes a teaching data acquisition part, a data processing part and an industrial robot, and the data processing part is respectively connected with the teaching data acquisition part and the Industrial robot connection. The teaching system calculates and obtains the position of the end of the arm and the rotation angle of each joint by obtaining the Euler angles at the positions of the sensors on the human arm during the teaching process, and performs coded representation and generalized outp...

Embodiment 2

[0119] This embodiment provides a teaching method for a desktop industrial robot based on a wearable device. The teaching method uses a teaching system for a desktop industrial robot based on a wearable device. The teaching system includes a teaching data acquisition part, a data processing Part and industrial robot, the data processing part is connected with the teaching data acquisition part and the industrial robot respectively, the teaching data acquisition part includes a wearable device, and the wearable device includes a data control node, a data sending module and 6 sensor nodes, the 6 sensor nodes are set on the left arm and the right arm respectively, and the 3 sensor nodes of each arm are respectively set on the far shoulder joint end of the upper arm, the far elbow joint end of the forearm and the end of the arm, the data The control node is set on the back of the human body. The data processing part includes a data receiving module, an arm motion information calcul...

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Abstract

The invention discloses a desktop industrial robot teaching system and method based on a wearable device. The teaching system comprises a teaching data obtaining part, a data processing part and an industrial robot; the teaching system obtains eulerian angles at the positions of all sensors on a human body arm so as to calculate the position of the tail end of the arm and the rotating angles of all joints, discrete motion data are subject to coded representation and generalized output, and the continuous arm tail end motion track and the corresponding joint rotating angle are obtained. According to the tail end position, the robot is subject to kinematics inverse solution, multiple sets of inverse solutions are obtained, according to the rotating angles of the corresponding joints, the multiple sets of inverse solutions are evaluated, and an inverse solution nearest to the arm gesture is selected to serve as the robot joint angle. According to the teaching system, teaching can be achieved without a teaching box or dragging of a mechanical arm, teaching of the industrial robot can be achieved only according to normal manual operation, and the teaching efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a wearable device-based desktop industrial robot teaching system and method. Background technique [0002] Various six-degree-of-freedom manipulators are widely used in current automated production systems due to their flexibility in movement and rationality in mechanism design. The main task of a robot is to replace humans in repetitive, poor-environment, and highly dangerous manual operations. The premise of its completion is to issue instructions to the robot in advance, specifying the specific content of the actions and tasks that the robot should complete. teaching. Teaching reproduction is a programming method commonly used by robots, which requires the operator to use the teaching box to repeatedly adjust the operating parameters of the robot at each teaching point. After the whole teaching process is over, the robot works repeatedly according to the recorded data. H...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0081
Inventor 陶永房增亮陈友东刘辉谢先武许曦
Owner BEIHANG UNIV
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