A kind of robot teaching control method, device, system and electronic equipment
A control method and control device technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as inconsistent angles and misoperations
Active Publication Date: 2020-08-18
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 designate 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 indicati...
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The invention provides a robot teaching control method, device, system and electronic equipment, by acquiring the first pose data of the robot in the current robot base coordinate system; acquiring the position angle of the teaching pendant in the current robot base coordinate system information; reconstructing the current robot base coordinate system according to the position angle information to obtain a reconstructed robot base coordinate system, so that the position angle of the teaching pendant under the reconstructed robot base coordinate system is zero; Calculating the pose of the robot in the reconstructed robot base coordinate system according to the first pose data to obtain second pose data; generating three-dimensional image information of the robot according to the second pose data; The three-dimensional image information is sent to the teaching pendant for display; thereby avoiding the problem of easy misoperation due to the inconsistency between the angle of the three-dimensional image displayed on the teaching pendant and the angle of the real robot image actually seen by the operator.
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