Teaching robot data acquisition system based on optical motion capturing

A technology of data acquisition system and teaching robot, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., and can solve the problems of insufficient stability of data and insufficient distance of infrared laser scanning

Active Publication Date: 2019-06-07
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, compared with optical motion capture, the obtained data is not

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  • Teaching robot data acquisition system based on optical motion capturing
  • Teaching robot data acquisition system based on optical motion capturing
  • Teaching robot data acquisition system based on optical motion capturing

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Embodiment Construction

[0058] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0059] A teaching robot data acquisition system based on optical motion capture, such as figure 1 As shown, the platform mainly includes: teaching robot 1, robot teaching device processing terminal 2, switch 3, optical capture system camera 4, and operation tool 5. Use the optical capture system camera 4 to calibrate the operation tool and the teaching robot. After the calibration is completed, use the robot teaching device processing terminal 2 to send an acquisition command to the optical capture system camera to collect the position and attitude data of the operation tool 5; The teaching device processing terminal 2 performs data transmission with the optical capture system camera 4 through the switch 3, collects and receives the position and attitude data information of the working tool 5 transmitted from the optical capture system camera 4, and performs ...

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Abstract

The invention discloses a teaching robot data acquisition system based on optical motion capturing. Modules are mainly divided into a calibration module, a switch communication module, a data processing module, a monitoring module and a teaching robot module, wherein the data processing module sends an acquisition command to the calibration module through the switch communication module to obtainteaching motion data, the teaching motion data are poses, of operation tools in the teaching motion process, acquired by the calibration module, the data processing module is used for acquiring the poses of the operation tools, carrying out coordinate transformation and generating a motion command which can be executed by a robot, the motion command is sent to the robot module through WiFi, the monitoring module is used for sending a control command to each module and monitoring the whole system so as to enable the teaching robot to complete the same actions as the teaching actions, and then teaching is realized. According to the teaching robot data acquisition system, an optical motion capturing system is adopted for real-time acquisition, compared with the prior art, the teaching robot data acquisition system has good the remote control performance, the acquired data are highly precise, and the stability of teaching is realized.

Description

technical field [0001] The invention relates to a teaching robot data acquisition system based on optical motion capture, which is a data acquisition system for real-time control of a six-degree-of-freedom robot by capturing optical motion data. Background technique [0002] In order to make the robot move with a specific trajectory, the usual practice is to use an operating device, which is manually operated by the teaching staff to make the robot move according to the specified action. At the same time, the position path of the robot, the stop position of the manipulator A series of information such as angle and height are recorded in the controller, and finally the robot's action program is generated based on the recorded data. When using the operating equipment to teach the robot, the traditional teaching method needs to decompose the action into multiple static actions, and then determine the action information of the robot according to the position, height and angle in...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
Inventor 禹鑫燚徐佗成柏继华欧林林陆文祥
Owner ZHEJIANG UNIV OF TECH
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