Robot teaching system and method of three-dimensional force sensor

Abstract

The invention belongs to the technical field of robots, and discloses a robot teaching system and method of a three-dimensional force sensor. Three force information data in a three-dimensional spacedirection are collected through the three-dimensional force sensor; the collected data are corrected, and a three-dimensional force coordinate system is constructed according to the collected data after the correction is completed; a three-dimensional force change curve graph is constructed according to the collected data in the coordinate system, and simulation operation is carried out on the three-dimensional force; and three-dimensional force demonstration voice playing operation is performed by utilizing a voice player, and the collected three-dimensional force data, the three-dimensionalforce coordinate system, the three-dimensional force curve chart and other data are displayed by utilizing a display. According to the robot teaching system and method, a linear elastic mechanical basic edge value problem matrix form of a three-dimensional force sensor device structure is established; tetrahedron mesh partition adopted for solving domains; and a high-order basis function can be quickly constructed, and a high-precision numerical simulation calculation result can be obtained.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot teaching system and a teaching method of a three-dimensional force sensor. Background technique [0002] The three-dimensional force sensor can detect three force information (Fx, Fy, Fz) in three-dimensional space at the same time. Through it, the control system can not only detect and control the grip force of the robot's claw to pick up the object, but also detect the weight of the grasped object, and the Check whether there is sliding, vibration, etc. during the operation. There are two types of three-dimensional finger force sensors: side-mounted and top-mounted. The side-mounted three-dimensional finger force sensor is generally used for two-finger robot grippers, and the top-mounted three-dimensional finger force sensor is generally used for multi-fingered dexterous hands of robots. However, in the robot teaching process of the existing three-dimensiona...

AI Technical Summary

Problems solved by technology

[0004] (1) The robot teaching process of the existing 3D force sensor has a large deviation of the 3D force acquisition data, and the simulation accuracy is poor

[0005] (2) The force sensor in the robot teaching system of the existing three-dimensional force sensor is easily affected by temperature, which reduces the accuracy of data monitoring

[0006] (3) In the existing 3D force sensor robot teaching system, when drawing images according to the collected data, a static method is used for drawing, which reduces the accuracy of the drawn graph, thereby reducing the effect of the teaching system

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