Fast teaching method for industrial robots

Abstract

The invention discloses an industrial robot quick teaching method. The industrial robot quick teaching method comprises the steps that according to the positional relation between the tail end of an operational tool and a contact, the position transformation relation between the tail end of the operational tool and the contact is computed and converted into a transformation matrix; an industrial robot starts operating according to the preset offset to drive the contact to touch a preset number of points on a calibration plate to obtain position matrixes of all the points, and converting the position matrixes into a position matrix of the tail end of the tool; computing a posture relation matrix of a coordinate system B, corresponding to a current coordinate system A of the industrial robot, fixed to the calibration plate according to the position matrix; and finally, computing a posture matrix of a required teaching point in the coordinate system B according to the position relation between the calibration plate and an actual workpiece and a 3D model of the actual workpiece, computing a posture matrix of the required teaching point in the current coordinate system A of the industrial robot and writing the posture matrix into a controller to replace an original teaching point. Through the industrial robot quick teaching method, the teaching operation difficulty of the robot canbe reduced, the training, leaning and teaching time of users can be shortened, the efficiency can be improved, teaching errors can be reduced, and the teaching precision can be improved.

Description

Technical field [0001] The invention relates to the application technology of industrial robots, in particular to a fast teaching method of industrial robots. Background technique [0002] With the rapid development of robotics technology, industrial robots are being applied in large quantities in industrial production to improve the degree of automation and production efficiency of factories. However, in the actual application of industrial robots, it takes a lot of time to teach and program the robot. [0003] In the current application of industrial robots, the teach pendant is usually used to operate the robot when teaching and programming the robot. First, move the end tool of the robot to a key point on the work trajectory and adjust it to an appropriate posture, and then record the posture of this point. Usually, a running track needs to record dozens of points, and then program and run according to these teaching points. This method has the following drawbacks: (1) The o...

AI Technical Summary

Problems solved by technology

[0006] The main purpose of the present invention is to provide a fast teaching method for industrial robots to solve the problems of poor operability, low precision, long time required, inappropriate speed ratio and poor experience in existing teaching methods for industrial robots

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