A drag teaching device for humanoid manipulator

Abstract

A dragging teaching instrument for a humanoid mechanical arm comprises a six-dimensional force sensor, a power source module and a teaching controller. The teaching controller comprises physical keys,an IO module, a DSP chip and a CAN bus controller. The six-dimensional force sensor is used for measuring space six-dimensional force exerted on an end executor of the humanoid mechanical arm. The physical keys are used for sending dragging signals to the IO module. The DSP chip receives measurement data of the six-dimensional force sensor and collecting the dragging signals of the IO module at the same time, and after calculating the position and posture variations, the DSP chip sends the position and posture variations to the CAN bus controller. The CAN bus controller sends the position andposture variations to a control system of a robot. By the adoption of a dragging teaching method, teaching of position dragging and posture dragging of the humanoid mechanical arm of the robot is achieved.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a drag teaching device for a humanoid mechanical arm. Background technique [0002] The lightweight seven-degree-of-freedom humanoid manipulator of the robot has many advantages such as high precision, good safety, and good human-computer interaction, and is mainly used in human-machine collaborative workplaces. In general, it is necessary to manually drag the robotic arm to the working position and record this position to realize drag teaching. However, the existing technologies do not distinguish the drag control of the position and attitude of the end. For the working conditions that need to distinguish the position and attitude of the end, it often happens that the mechanical arm is dragged to teach the expected adjustment position, but the humanoid manipulator adjusts the attitude. Or when the robot arm is dragged and taught to adjust the posture, but the humanoid robot arm adjusts it...

AI Technical Summary

Problems solved by technology

However, the existing technologies do not distinguish the drag control of the position and attitude of the end. For the working conditions that need to distinguish the position and attitude of the end, it often happens that the mechanical arm is dragged to teach the expected adjustment position, but the humanoid manipulator adjusts the attitude. Or when the robot arm is dragged and taught to adjust the posture, but the humanoid robot arm adjusts the position, the use process is limited, and it is difficult to meet the specified operation needs under complex working conditions.

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