Robot teaching recording system, teaching process steps and algorithm flow

Abstract

The invention provides a robot teaching recording system which is efficient, high in applicability, speedy and low in cost, and has few parts, provides a teaching method based on the system, and belongs to the field of robot teaching. The system comprises optical beacons, an IMU sensor, a camera, a data fusion calculation unit and a robot control cabinet, wherein the robot control cabinet is a control driving unit for a robot and receives data or files output by the IMU sensor and a visual fusion calculation unit; the camera is used for acquiring the positions of the beacons; IMU data are fused by the data fusion calculation unit; and the positions, speeds and accelerated speeds of the optical beacons and process actions at corresponding positions are output in a fused manner finally by the data fusion calculation unit. The provided teaching system and method can be applied to following occasions: teaching actions and process can be finished by teaching workers, robot sensors do not require to be added or a mechanical structure does not need to be changed, and a robot system only needs to receive external commands or external files.

Description

technical field [0001] The present invention relates to the technical field of a robot teaching system, in particular to a robot teaching recording system and process steps that integrate an IMU and an optical distance measuring sensor, and an algorithm flow of a robot teaching method. Background technique [0002] The current robot action is mainly obtained through the following four methods: [0003] 1. On-line programming, that is, traditional engineers operate the robot through the teaching box to memorize the position and process action information. This process is usually time-consuming and laborious, and requires a high level of knowledge of the operator. [0004] 2. Offline programming, that is, robot actions can be automatically calculated by a host computer and converted into a robot programming language. Patent document CN 104552300 B discloses an offline programming teaching device and method based on a teaching robot, which can reduce costs and teaching Difficu...

AI Technical Summary

Problems solved by technology

[0003] 1. On-line programming, that is, traditional engineers operate the robot through the teaching box to memorize the points and process action information. This process is usually time-consuming and laborious, and requires a high level of knowledge of the operator

[0004] 2. Offline programming, that is, robot actions can be automatically calculated by a host computer and converted into a robot programming language. Patent document CN 104552300 B discloses an offline programming teaching device and method based on a teaching robot, which can reduce costs and improve teaching efficiency. Difficult to operate, but in many applications, robot movements cannot be pre-calculated, and the applicability is not high

For example, the patent application document 201710152216.3 (application number) discloses a fast teaching device for industrial robots and its implementation method. In the fast teaching mode based on six-dimensional force / torque, directly drag the teaching module to select the teaching point. This method is simple and safe, but usually requires the robot to have additional sensors or actuators, which increases the cost

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