PC terminal APP system for six-degree-of-freedom manipulator demonstration teaching control

Abstract

The invention discloses a PC terminal APP system for six-degree-of-freedom manipulator demonstration teaching control. The PC terminal APP is installed in a Windows computer of a user. The PC terminalAPP system comprises an interactive interface module, an APP main control module, a trajectory optimization module and a control file generation module which are sequentially connected, wherein the control file generation module downloads a control code file to a working manipulator through a file transfer protocol (FTP), and the working manipulator completes the demonstration teaching after optimization; and the APP main control module and a data collector for detecting the motion parameters of the working manipulator are in WiFi communication connection. The PC terminal APP system disclosedby the invention is used for operation control and parameter setting on the six-degree-of-freedom manipulator demonstration teaching system, and the user uploads and downloads and installs the PC terminal APP in the computer with the Windows system. The PC terminal APP controls starting and ending of collection of the demonstration teaching data, the angle information from the data collector is wirelessly received, a forward and inverse kinematics formula and a Cartesian trajectory planning algorithm are then combined to optimize the demonstration teaching trajectory, and the control code file is finally generated to control the manipulator to complete the demonstration teaching after optimization.

Description

technical field [0001] The invention relates to a manipulator teaching controller system, in particular to a PC-side APP system for six-degree-of-freedom manipulator teaching control. Background technique [0002] With the widespread use of industrial robots in various industries, they expect that robots can complete more complex tasks in the shortest time and in a simpler way, especially industries with complex trajectory planning such as spraying, welding, and polishing. At present, the use of industrial robots is still a long way from being fully intelligent. The completion of most tasks mainly depends on the teaching-reproduction form, so how to realize the teaching is still an important task before the robot performs the processing task. Teaching——"Teaching" in reproduction, as the name implies, means demonstration teaching, that is, before the robot performs normal processing, the operator uses some interactive method to demonstrate the actions required to perform the ...

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Problems solved by technology

Zhu Maojuan, Wang Linbing, Zeng Qi et al proposed a robot and its teaching communication system (Zhu Maojuan, Wang Linbing, Zeng Qi et al. Robots and their teaching communication system: China, 205620710[P].2016-01-04), realized The data communication between the teaching collector and the controller, but the communication method is wired, has space limitations and lacks confidentiality; Chen Ken, Ren Shunan, Wang Guolei, etc. proposed an industrial robot teaching system (Chen Ken, Ren Shunan, Wang Guolei, etc. Industrial robot teaching system: China, 104700705[P]. It cannot meet the requirements of high-precision industrial production; Xia Zeyang, Deng Hao, Weng Shaokui, etc. proposed a robot teaching system and its control method (Xia Zeyang, Deng Hao, Weng Shaokui, etc. Robot teaching system and its control method: China, 105058396 [P ].2015-11-18), introduced the teaching process of the robot in detail, but there is no app with good interactive performance, and the user operation is cumbersome and inconvenient

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