Robot teaching control method, device and system and electronic equipment
A control method and technology of a control device are applied in the field of systems and electronic equipment, devices, and robot teaching control methods, and can solve problems such as misoperation and inconsistent angles.
Active Publication Date: 2020-07-10
JIHUA LAB
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Problems solved by technology
[0005] In view of the shortcomings of the above-mentioned prior art, the purpose of the embodiment of the present application is to provide a robot teaching control method, device, system and electronic equipment, aiming at solving the problem of the difference between the angle of the three-dimensional image displayed on the teaching device and the actual situation of the operator. The angles of the real robot images seen are inconsistent, which may easily lead to misoperation
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[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0056] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating ...
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The invention provides a robot teaching control method, device and system and electronic equipment. First pose data of a robot in a current robot base coordinate system are obtained; position angle information of a teaching device in the current robot base coordinate system is obtained; the current robot base coordinate system is reconstructed according to the position angle information, a reconstructed robot base coordinate system is obtained, and the position angle of the teaching device in the reconstructed robot base coordinate system is zero; the pose of the robot in the reconstructed robot base coordinate system is calculated according to the first pose data, so that second pose data are obtained; three-dimensional image information of the robot is generated according to the second pose data; and the three-dimensional image information is sent to the teaching device to be displayed. Therefore, the problem of mis-operation caused by inconformity of the angle of a three-dimensionalimage displayed on the teaching device and the angle of a real robot image practically seen by an operator is solved.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot teaching control method, device, system and electronic equipment. Background technique [0002] When teaching the robot, it is generally operated by the operator holding the teaching pendant. When operating, the operator usually looks at the actual screen of the robot and the workpiece to judge what the next operation is, and then operates in the teach pendant, and then looks at the display displayed in the teach pendant when operating in the teach pendant. A 3D image of the robot for reference. [0003] Usually, the base coordinate system of the robot has been set, and the directions of its X, Y, and Z axes are fixed, and the base coordinate system of the 3D image of the robot displayed on the teach pendant interface is also fixed and consistent with Corresponds to the base coordinate system of the robot. For example, the X1 axis direction of the base coordi...
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IPC IPC(8): B25J9/00B25J9/16B25J13/00B25J19/00
CPCB25J9/0081B25J9/161B25J9/1612B25J13/00B25J19/00
Inventor 何嘉臻薛光坛李一娴田松坡
Owner JIHUA LAB