Teaching method, device, electronic device and system for redundant dual-arm robot

A teaching method and robot technology, applied in manipulators, program-controlled manipulators, and comprehensive factory control, can solve problems such as time-consuming, low teaching efficiency, and difficult new task requirements for redundant dual-arm machines.

Active Publication Date: 2022-07-15
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] A redundant dual-arm robot has two redundant degrees of freedom mechanical arms (such as a seven-axis mechanical arm), and usually requires two robotic arms to work together. Due to the complex structure of a redundant dual-arm robot, traditional teach pendant programming, Teaching methods such as offline programming and virtual teaching programming take a long time, the teaching efficiency is low and the professional technical ability of the teaching personnel is high, it is difficult to realize the convenient and fast teaching of the redundant dual-arm robot, making the It is difficult for arm machines to quickly adapt to various complex new task requirements

Method used

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  • Teaching method, device, electronic device and system for redundant dual-arm robot
  • Teaching method, device, electronic device and system for redundant dual-arm robot
  • Teaching method, device, electronic device and system for redundant dual-arm robot

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Embodiment Construction

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0052] It sh...

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Abstract

The present application belongs to the technical field of robot control, and discloses a teaching method, device, electronic device and system for a redundant dual-arm robot. The motion constraint parameters and dynamic constraint parameters of the redundant dual-arm robot and the pose data of the workpiece to be processed; the first trajectory data is divided into multiple trajectory sub-segment data, and the waist joint angle data corresponding to each trajectory sub-segment data is extracted ; Input the motion constraint parameters, dynamic constraint parameters, pose data of the workpiece to be processed, multiple trajectory sub-segment data and corresponding waist joint angle data into the hierarchical learning neural network model to obtain the motion strategy data set; according to the motion strategy data set The motion data sequence of each joint is acquired; the motion of each joint is controlled according to the motion data sequence of each joint of the redundant dual-arm robot; thus, the teaching of the redundant dual-arm robot can be realized conveniently and quickly.

Description

technical field [0001] The present application relates to the technical field of robot control, and in particular, to a teaching method, device, electronic device and system for a redundant dual-arm robot. Background technique [0002] The redundant dual-arm robot has two redundant manipulator arms (such as a seven-axis robot arm), which usually needs to work together through the two robotic arms. Due to the complex structure of the redundant dual-arm robot, the traditional teaching pendant programming, Teaching methods such as offline programming and virtual teaching programming are time-consuming, have low teaching efficiency, and have high requirements for the professional technical ability of the teaching personnel. It is difficult for arm machines to quickly adapt to various complex new task requirements. SUMMARY OF THE INVENTION [0003] The purpose of the present application is to provide a teaching method, device, electronic device and system for a redundant dual-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/163B25J9/1664B25J9/161B25J9/0081Y02P90/02
Inventor 王豪杨鹏刘振
Owner JIHUA LAB
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