Force position control teaching execution method

Abstract

The invention relates to a force position control teaching execution method. The method comprises a teaching method and a teaching execution method, wherein the teaching method comprises the followingsteps that (a) teaching is started, and a program records stress data of the initial state of a force sensor and position data of the initial state of a recording module; (b) an instructor drags themodule to move for teaching, and the program records stress change data of the force sensor in the moving process and records position change data of the module in the moving process; (c) the instructor chooses whether to finish the teaching, if the instructor chooses 'no', the program returns to step (b) and repeats the operation of the step (b), and if the instructor chooses 'yes', the program executes step (d); (d) the teaching is finished, the program records stress data of the end state of the sensor and position data of the end state of the module, and then the teaching is finished; thedata is replayed and converted into an executable robot program through the teaching execution method, and the operation is very simple.

Description

technical field [0001] The invention relates to a force position control teaching execution method. Background technique [0002] The traditional drag teaching method uses discrete points for position teaching, but it does not include output records. When it teaches playback, it performs position playback and sets depending on a single condition, such as collision stall detection (current is greater than the set value), etc. [0003] However, in actual production, the above-mentioned teaching method cannot fully meet the needs of the instructor. For example, in process 1, the worker needs to press the mechanical arm on the workpiece, and then manually process the heavy workpiece. At this time, process 1 only needs precise and heavy force. For example, in process 2, the robotic arm moves the processed workpiece to the area to be installed. At this time, process 2 only needs to accurately replay the position. For example, in process 3, the robotic arm needs to move the workpi...

AI Technical Summary

Problems solved by technology

[0003] However, in actual production, the above-mentioned teaching method cannot fully meet the needs of the instructor. For example, in process 1, the worker needs to press the mechanical arm on the workpiece, and then manually process the heavy workpiece. At this time, process 1 only needs precise and heavy force. For example, in process 2, the robotic arm moves the processed workpiece to the area to be installed. At this time, process 2 only needs to accurately replay the position. For example, in process 3, the robotic arm needs to move the workpiece to the installation area and the other When a workpiece is assembled, process 3 requires precise replay of force and position

[0004] Since collaborative scenarios require force teaching, position teaching, and mixed force and position teaching, traditional teaching methods cannot fully meet the needs of the trainer

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