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A multi-sensor based robot task teaching method and system

A multi-sensor, teaching method technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of no flexible construction error compensation, high price, unsatisfactory actual accuracy, etc., to achieve single-axis flexible position compensation, low price effect

Active Publication Date: 2021-11-30
FOSHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the existing multi-dimensional force sensor products are based on complex structural design, the price is high, and there is no flexible structure to adapt to the force and position error compensation during the contact process, and the actual accuracy is not ideal

Method used

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  • A multi-sensor based robot task teaching method and system
  • A multi-sensor based robot task teaching method and system
  • A multi-sensor based robot task teaching method and system

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Embodiment Construction

[0045] refer to Figure 1~4 , a robot task teaching system based on multi-sensors provided in this embodiment includes a fixing device, a sliding device movably connected with the fixing device, a sensing device arranged on the sliding device, and a control means and drive means 500;

[0046] The fixing device includes a fixing base 110, a linear slide rail 120 arranged on the fixing base 110;

[0047] The sliding device includes a sliding platform 210 clamped on the linear slide rail 120, a structural member 220 fixedly connected to the sliding platform 210, and an end member 230 fixedly connected to the other end of the structural member 220;

[0048] The sensing device includes an elastic device 310 connecting the fixed base 110 and the sliding platform 210, a linear position sensor 320 arranged on the linear slide rail 120 and the sliding platform 210, and a linear position sensor 320 arranged on the structure The bridge circuit 330 on the part 220, the visual sensor 340...

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Abstract

The present invention relates to the technical field of robot automation, in particular to a robot task teaching method and system based on multi-sensors. The system includes a fixing device, a sliding device movably connected with the fixing device, and a The sensing device, the control device and the driving device arranged on the robot body; the fixing device includes a fixed base and a linear slide rail; the sliding device includes a card sliding platform, a structural member, and an end piece; the sensing device includes an elastic device, a linear position sensor, a bridge circuit, and a visual sensor; the force and moment of the structural member is sensed by the sensing device, and the geometric feature information of the end piece and the surface of the workpiece to be measured is detected by the visual sensor, thereby obtaining the robot end piece The attitude error compensation information of the robot is obtained, and then the joint angle information after compensation of the robot is obtained. The invention has high economical practicability.

Description

technical field [0001] The invention relates to the technical field of robot automation, in particular to a multi-sensor-based robot task teaching method and system. Background technique [0002] The special robot end effector used in tape sticking, grinding, surface cleaning, etc., has the control requirement of contact force with the surface to be processed during the operation, so it senses the contact force between the end effector and the surface of the workpiece. It is very necessary in the type robot operation; at the same time, the operation task often requires the robot end effector to have the function of compliance position compensation and force adaptation to realize the soft contact operation. For example, when a robot sticks tape on a curved surface or cleans the surface of the curved surface, the end effector needs to have a certain degree of flexibility to maintain good contact with the surface and avoid steel impact. [0003] However, the existing multi-dim...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/22B25J19/02
CPCB25J9/0081B25J19/02
Inventor 张彩霞王向东
Owner FOSHAN UNIVERSITY
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