Robot trajectory recurrence method, control device, equipment and readable storage medium

A robot and robot motion technology, applied in the field of robots, can solve problems such as inconvenience and complex robot teaching process

Active Publication Date: 2020-05-29
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a robot trajectory reproduction method, control device, equipment

Method used

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  • Robot trajectory recurrence method, control device, equipment and readable storage medium
  • Robot trajectory recurrence method, control device, equipment and readable storage medium
  • Robot trajectory recurrence method, control device, equipment and readable storage medium

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Embodiment Construction

[0025] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0026] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or addition of a collection thereof.

[0027] It should also be und...

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Abstract

The invention provides a robot trajectory recurrence method, a control device, equipment and a readable storage medium. The method includes the steps of sending out a demonstration starting instruction to a servo controller of a robot when it is detected that a demonstration button on the robot is at a first state so that the robot can be at a zero-force control state, and continuing to obtain multiple pieces of first point position information of the robot; sending a demonstration ending instruction to the servo controller when it is detected that the demonstration button is at a second stateso that the robot can retreat from the zero-force control state, stopping obtaining the first point position information, generating a demonstration trajectory file according to the multiple pieces of first point position information, and storing the demonstration trajectory file; and controlling the robot to move according to the demonstration trajectory file. By means of the technical scheme, the robot can be at the zero-force control state so as to be dragged for demonstration only if an operator presses down the demonstration button. Compared with an existing scheme of the combination ofan interface key in a software interface and a demonstrator, the demonstration process is simplified, and the operation complexity is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot track reappearance method, a control device, equipment and a readable storage medium. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles and programs specified by artificial intelligence technology. At present, the application scope of robots continues to expand, from traditional application scenarios such as automobile manufacturing, electronic assembly, and food processing, to gradually infiltrating emerging fields such as consumption and services. These fields put forward higher requirements for the ease of use and convenience of robots. [0003] The robot generally determines the desired target point and trajectory through teaching, and then triggers the repeated execution of the taught trajectory according to external signals. In the pr...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1602B25J9/1664B25J9/1679
Inventor 张华杰刘培超刘主福
Owner SHENZHEN YUEJIANG TECH CO LTD
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