Drag and teach system and method

A technology of dragging teaching and coordinate system, which is applied in general control system, control/adjustment system, program control manipulator, etc., can solve the problems of cumbersome and unintuitive process, high requirement of operator’s knowledge level, low work efficiency, etc., to achieve Flexible teaching, simple system and low cost

Active Publication Date: 2021-12-07
SHANGHAI JIEKA ROBOT TECH CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

The traditional teaching method mainly relies on the teaching device, and this teaching method has the characteristics of low work efficiency, cumbersome and unintuitive process, and requires high knowledge level of operators

Method used

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  • Drag and teach system and method
  • Drag and teach system and method
  • Drag and teach system and method

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Embodiment Construction

[0047] Embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the invention can have various changes in different examples without departing from the scope of the invention, and that the descriptions and illustrations therein are illustrative in nature rather than limiting the invention.

[0048] The embodiment of the invention discloses a drag teaching system, which is suitable for robots, such as figure 1 As shown, the drag teaching system includes: a model identification module, which establishes the static model of the robot, and identifies the model parameters, where the static model includes a gravity model and a Coulomb friction model; The output model parameters are sent to the current loop of each joint motor of the robot in a feed-forward manner; the data recording module records the position information of each joint of the robot, and is used for the robot to r...

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Abstract

The invention discloses a drag teaching system and method, wherein the drag teaching system includes: a model identification module, which establishes a static model of a robot, and identifies model parameters, wherein the static model includes a gravity model and The Coulomb friction model; the feedforward compensation module, according to the identified model parameters, is sent to the current loop of the motor of each joint of the robot in a feedforward manner; the data recording module records the position information of each joint of the robot, which is used for the robot to reproduce and teach Actions. The invention can make the user easily push up the robot to complete the traction teaching.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a drag teaching system and method. Background technique [0002] Drag teaching, also known as direct teaching or manual teaching, is one of the main methods of human-computer cooperation, that is, people directly complete the teaching and programming work of robots by manually dragging. The traditional teaching method mainly relies on the teaching pendant, and this teaching method has the characteristics of low work efficiency, cumbersome and unintuitive process, and requires high knowledge level of operators. The method of dragging and teaching is more intuitive, and the requirements for on-site operators are greatly reduced. Contents of the invention [0003] The purpose of the present invention is to provide a drag teaching system and method, which can enable the user to easily push up the robot to complete the drag teaching. [0004] In order to achieve t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1653G05B19/423G05B2219/39181G05B2219/41156G05B2219/41448G05B2219/43022Y02P90/02G05B17/02G05B2219/50391
Inventor 朱向阳李明洋王家鹏吴建华韩勇
Owner SHANGHAI JIEKA ROBOT TECH CO LTD
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