Indirect drag teaching method and device of mechanical arm
A technology of dragging teaching and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limited use process, inability to achieve accurate teaching, and difficulty in meeting specified operation needs
Active Publication Date: 2021-03-19
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, this direct drag teaching technology also has its limitations. For some occasions where the operator cannot reach or requires precise trajectory and force tracking, the use process is limited, and it is difficult to meet the specified operation needs under complex working conditions. Direct dragging The dynamic teaching technology cannot realize accurate teaching
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 2
[0077] Such as Figure 5 As shown, it is a structural block diagram of a mechanical arm indirect dragging teaching device in this embodiment, which is suitable for performing the method described in Embodiment 1, including:
[0078] Obtaining the plane track module 10: used to perform multiple plane teaching on the teaching plane to obtain the teaching plane track;
[0079] Dynamic motion unit expression module 30: used to perform a dynamic motion unit expression process on the teaching plane trajectory;
[0080] Trajectory generalization control module 40: used to select a new trajectory start point and trajectory target point, perform trajectory generalization on the teaching plane trajectory according to the dynamic motion unit expression process, and combine the contact force control process to obtain the teaching trajectory of the contact surface.
[0081] The acquisition plane trajectory module 10 is followed by a smoothing processing module 20 for smoothing the teachin...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a mechanical arm indirect dragging teaching method and a device, and relates to the field of robot control. The method comprises the following steps that teaching plane trace can be obtained by multiple plane teaching in teaching plane; a dynamic motion unit expression process for the teaching plane track is performed; and the new starting point and target point of the track are selected, the track generalization of the teaching plane is performed according to the expression process of the dynamic motion unit, and the teaching track of the contact surface is obtained combined with the contact force control process. Through the combination of dynamic motion unit expression and the contact force control process, the plane teaching learning of the mechanical arm and the generation of the teaching track on the contact surface are realized without performing the dragging teaching on the contact surface, and at the same time, the contact force control is realized, andthe problem that the direct teaching technology cannot generate the teaching track on the operation object that the operator cannot reach can be solved.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a teaching method and device for indirect dragging of a mechanical arm. Background technique [0002] The mechanical arm of the robot has many advantages such as high precision, good safety, and good human-computer interaction, and is mainly used in human-computer collaborative work situations. In general, it is necessary to manually drag the mechanical arm to the working position and record the position to realize drag teaching. The direct drag teaching technology enables the mechanical arm to move according to the operator's expectations. It has the advantages of simple operation, high precision, Strong collaboration and other advantages. However, this direct drag teaching technology also has its limitations. For some occasions where the operator cannot reach or requires precise trajectory and force tracking, the use process is limited, and it is difficult to meet the specified op...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/0081B25J9/161B25J9/1664
Inventor 徐文福韩亮郑宁靖
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL