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Collaborative robot hand-guiding method based on three-dimensional mouse

A technology of three-dimensional mouse and teaching method, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor versatility, and achieve the effect of low threshold, strong versatility and obvious price advantage.

Active Publication Date: 2018-09-14
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method does not add additional cost and can realize the free dragging of the robot, but it requires a high level of authority to develop the robot controller. Generally, the opening authority of the robot controller on the market is very low, so this method has poor versatility.

Method used

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  • Collaborative robot hand-guiding method based on three-dimensional mouse
  • Collaborative robot hand-guiding method based on three-dimensional mouse
  • Collaborative robot hand-guiding method based on three-dimensional mouse

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] Such as Figure 1-Figure 4 As shown, the collaborative robot guidance and teaching method based on the three-dimensional mouse of the present invention comprises the following steps:

[0024] Step 1. Install the human-computer interaction software on the host computer, and add the guidance and teaching program to the robot controller.

[0025] Described human-computer interaction software can utilize Microsoft Visual Studio 2010 (abbreviation VS2010) to write, is provided with auxiliary button on the interface of described human-computer interaction software, can choose to guide the teaching in the teaching process by clicking auxiliary button Mode, guidance mode, robot action reference coordinate system, power on and off of robot joint motors, record teaching information and generate robot action program files. The internal program of the hum...

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Abstract

The invention discloses a collaborative robot hand-guiding method based on a three-dimensional mouse. The method comprises the following steps that a man-machine interaction software is installed on an upper computer, and a hand-guiding program is added in a robot controller; the upper computer is connected with a robot control system, the three-dimensional mouse is in communication with the uppercomputer, and the three-dimensional mouse is installed on an end effector of a robot body; force of different magnitude and directions is applied on the three-dimensional mouse manually, a robot is guided to act in the corresponding direction, the robot controller uploads the pose information, the speed information and the acceleration information of the robot in the action process to the upper computer, and the upper computer man-machine interaction software generates a robot action program file; and through the robot action program file generated by the operation of the robot, the reproduction of the action of the robot is realized. By adopting the hand-guiding method, robot hand-guiding can be easier to operate, lower in cost, higher in universality, and capable of achieving remote control operation.

Description

technical field [0001] The invention belongs to the technical field of robot teaching, in particular to the technical field of robot guidance teaching. Background technique [0002] In order to enable industrial robots to complete tasks as required, the teaching process is essential. Traditional teaching techniques are generally divided into teaching pendant teaching and offline teaching. The teaching of the teaching pendant requires the teaching pendant to send coordinate points to the robot according to the required trajectory through the teaching pendant. This method can meet the requirements for the simple trajectory of the plane, but cannot meet the complex trajectory requirements such as spraying and grinding. Teaching efficiency is low. Offline teaching is to automatically generate the trajectory of the robot according to the requirements of the work task through the offline programming software. The programming efficiency is high, but most robots require special of...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0081
Inventor 王国栋王星芳朱孟胜肖聚亮洪鹰
Owner TIANJIN UNIV