A 3D joystick-based industrial robot teaching programming system and method

Abstract

The present invention proposes an industrial robot teaching programming system and method based on a 3D joystick, comprising a 3D joystick, a main controller, an industrial robot and a force sensor; the teaching programming process comprises the following steps: step S1, establishing a mapping relationship between a 3D joystick and a corresponding industrial robot mechanical arm end, and making the movement and rotation range of the 3D joystick correspond to the working range of the robot one by one; step S2, designing a position control loop based on contact force to achieve contact force stability; step S3, correcting accidental errors and human errors in the teaching process; step S4, operating the 3D joystick to change the posture of the industrial robot; step S5, collecting a teaching trajectory; step S6, judging whether the teaching is finished; if not, continuing the teaching operation; if finished, ending the teaching through a program and performing the next operation; step S7, reproducing the teaching trajectory; the present invention can set a specific robot working state of arbitrary axis linkage, and has higher versatility and is simpler.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot teaching programming system and method based on a 3D joystick. Background Art

[0002] Nowadays, for industrial robots, teaching is an indispensable process before completing the corresponding mechanized and automated production. There are two main teaching methods for traditional industrial robots: offline programming teaching and direct teaching with a teach pendant. Offline programming teaching is that technicians use specific offline programming software to program and teach the robot according to task requirements and generate robot programs. This method is highly efficient, but offline programming requires the use of special programming software and has poor versatility; teaching with a teach pendant is that the operator uses the teach pendant to teach the robot point by point. The operation is cumbersome, inefficient, and has poor human-computer interaction. It also requires certain operating skills for the operator, which is difficult to meet the requirements of current industrial robots.

[0003] Among the existing teaching method invention patents, some use vision for teaching. Although they can lower the threshold for operators and enhance the friendliness of human-machine collaboration, the information about the interaction between the robot and the environment only includes position and speed. Other environmental information such as stiffness and contact force are not reflected in the teaching process. Although some direct teaching methods based on specific robots have improved the human-machine collaboration capabilities, they are greatly restricted in application scenarios and fields.

[0004] In summary, the traditional teaching method has the disadvantages of complex operation, low efficiency, poor versatility, and troublesome human-computer interaction. The existing teaching method still has the shortcomings of insufficient environmental interactivity and large limitations on application scenarios. Summary of the invention

[0005] The present invention proposes an industrial robot teaching programming system and method based on a 3D joystick, which makes robot teaching more intuitive, simple and efficient. In addition, according to the requirements of the use scenario, a specific robot working state of any axis linkage can be set, which has a more universal and simpler robot teaching method.

[0006] The present invention adopts the following technical solutions.

[0007] An industrial robot teaching programming system based on a 3D joystick, comprising a 3D joystick, a main controller, an industrial robot and a force sensor;

[0008] The 3D joystick can accept movement operations along three mutually perpendicular directions of X, Y and Z axes, and rotation operations around three mutually perpendicular axes of X, Y and Z axes; the industrial robot comprises a mechanical arm with at least three degrees of freedom and a robot controller; the base of the mechanical arm is provided with a base coordinate system, and the end of the mechanical arm is provided with a tool coordinate system; the force sensor is installed at the end of the mechanical arm; the 3D joystick and the force sensor are electrically connected to the input of the main controller; the main controller is electrically connected to the output of the industrial robot controller;

[0009] The movement operation of the 3D joystick along the X-axis controls the movement of the tool coordinate system in the X-axis of the base coordinate system; the movement operation of the 3D joystick along the Y-axis controls the movement of the tool coordinate system in the Y-axis of the base coordinate system; the movement operation of the 3D joystick along the Z-axis controls the movement of the tool coordinate system in the Z-axis of the base coordinate system; the rotation operation of the 3D joystick around the X-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Y-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Z-axis controls the rotation of the tool coordinate system around the Z-axis of the base coordinate system;

[0010] The force sensor is used to detect the force applied to the end of the robotic arm; the industrial robot controller limits the movement of the robotic arm according to the force applied to the end of the robotic arm.

[0011] A force sensor is installed at the end of the robotic arm; the force sensor is electrically connected to the main controller; the industrial robot controller controls the movement of the tool coordinate system of the robotic arm in the base coordinate system according to the operation of the 3D joystick and the detection data of the force sensor.

[0012] A teaching and teaching reproduction method of an industrial robot teaching programming system based on a 3D joystick, wherein the tool coordinate system at the end of the industrial robot mechanical arm is a Cartesian coordinate system; the teaching programming process of the system comprises the following steps;

[0013] Step S1, in the spatial absolute coordinate system, establish a mapping relationship between the movement and rotation of the 3D joystick in three directions and the movement and rotation in the Cartesian coordinate system of the corresponding industrial robot manipulator end, and through calculation and conversion, the movement and rotation range of the 3D joystick in each direction corresponds to the working range of the robot one by one;

[0014] Step S2, in the robot Cartesian coordinate system, according to the control algorithm, designing a position control loop based on the contact force to achieve the stability of the contact force when the robot arm interacts with the environment;

[0015] Step S3, establishing a probabilistic model, processing the robot motion trajectory data during the teaching process, and correcting accidental errors and human errors during the teaching process;

[0016] Step S4, operating the 3D joystick to change the posture of the industrial robot, specifically: the operator pre-sets the mapping relationship and function between the 3D joystick and the end position of the industrial robot, operates the 3D joystick, and changes the coordinates of the end of the robot arm to obtain the required posture;

[0017] Step S5, collecting the teaching trajectory, specifically: using a 3D joystick to control the robot to move within the working range, when it moves to the required trajectory starting point, through the storage function in the boot program, the subsequent trajectory points are sent to the host computer in real time, and the host computer stores them;

[0018] Step S6, determining whether the teaching is finished; if not, continue to operate the 3D joystick to teach the robot; if finished, end the teaching through the program and proceed to the next step;

[0019] Step S7, reproducing the teaching trajectory, specifically: after teaching the required trajectory, the operator clicks the teaching reproduction button on the human-computer interaction interface to make the robot perform the reproducing teaching action according to the stored trajectory to complete the specified task.

[0020] The method controls the operation and emergency stop of the industrial robot and controls the motion mode of the industrial robot through pre-set function buttons on the 3D joystick.

[0021] The teaching and teaching reproduction method sets specific parameters for controlling the industrial robot for each of the 3D joystick buttons and rockers according to different teaching requirements.

[0022] The control algorithm of step S2 introduces fuzzy control to ensure the safety of the industrial robot during the interaction with the external environment.

[0023] The boot procedure of step S5 includes the following specific steps:

[0024] Step A1, establishing communication with the host computer;

[0025] Step A2, receiving the location information sent by the host computer;

[0026] Step A3, controlling the robot to move to a corresponding position;

[0027] Step A4: store the robot's position information in real time and send it to the host computer;

[0028] Step A5, determine whether the teaching is finished;

[0029] Step A6: If no, return and continue teaching;

[0030] Step A7: If yes, obtain the teaching trajectory processed by the host computer;

[0031] Step A8: The robot reproduces the teaching trajectory data, assuming i represents the i-th trajectory point, and initializing i=1;

[0032] Step A9, i is gradually incremented by 1, so that the robot moves gradually to the i-th trajectory point until all teaching trajectories are processed.

[0033] In step S2, an impedance control algorithm is used to perform closed-loop control using the force data detected by the force sensor and the position of the robotic arm, so that the contact force of the robot during interaction with the outside world can be stabilized within a threshold range to ensure the safety of human-machine interaction.

[0034] The main controller can set the movement boundary of the robot arm. In step S7, the main controller determines the input trajectory position. If the next trajectory point position exceeds the limit of the movement boundary, the robot arm will not continue to run.

[0035] In step S3, the probabilistic model is a Gaussian mixture model.

[0036] Compared with the prior art, the present invention discloses an industrial robot teaching method based on a 3D joystick, which is simple to operate and easy to implement. The control algorithm introduced can ensure the safety of the robot's interaction with the external environment and improve the friendliness of human-computer interaction. The teaching trajectory is also corrected through a probabilistic model, which can improve the accuracy of teaching reproduction on the basis of ensuring the teaching characteristics; and the connection between the 3D joystick and the host computer can be wireless, which can realize long-distance operation; and for different industrial robots, only different boot programs need to be modified, and the method has high versatility.

[0037] The present invention proposes an industrial robot teaching programming system and method based on a 3D joystick, which uses a host computer to connect a 3D joystick and an industrial robot controller, and controls the 3D joystick through a host computer program to teach and reproduce the industrial robot in a Cartesian coordinate system. The host computer program includes a human-computer interaction program and a guide program. The function of the human-computer interaction program is to set the mapping relationship between the joystick of the 3D joystick and the robot terminal coordinates and to realize the function of the button. The function of the guide program is to connect the robot and the host computer, transmit coordinate data for teaching, and collect the robot terminal trajectory in real time. The teaching method proposed in the patent of the present invention can realize the mixed control of force and position during the teaching process, ensure the safety of interaction with the environment during the teaching process, and can subsequently correct the teaching trajectory to ensure the accuracy of the teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0039] Attached Figure 1 It is a schematic diagram of the overall structure of the industrial robot teaching and teaching reproduction method based on a 3D joystick of the present invention;

[0040] Attached Figure 2a This is a schematic diagram of the displacement mapping between the joystick and the robot end;

[0041] Attached Figure 2b This is a schematic diagram of the rotation displacement mapping between the joystick and the robot end;

[0042] Attached Figure 3 It is a schematic diagram of the overall flow of the industrial robot teaching and teaching reproduction method based on a 3D joystick of the present invention;

[0043] Attached Figure 4 This is a schematic diagram of the human-computer interaction software flow of the host computer;

[0044] Attached Figure 5 This is a schematic diagram of the boot process flow;

[0045] Attached Figure 6 This is a schematic diagram of the industrial robot body structure. DETAILED DESCRIPTION

[0046] As shown in the figure, an industrial robot teaching programming system based on a 3D joystick includes a 3D joystick, a main controller, an industrial robot and a force sensor;

[0047] The 3D joystick can accept movement operations along three mutually perpendicular directions of X, Y and Z axes, and rotation operations around three mutually perpendicular axes of X, Y and Z axes; the industrial robot comprises a mechanical arm with at least three degrees of freedom and a robot controller; the base of the mechanical arm is provided with a base coordinate system, and the end of the mechanical arm is provided with a tool coordinate system; the force sensor is installed at the end of the mechanical arm; the 3D joystick and the force sensor are electrically connected to the input of the main controller; the main controller is electrically connected to the output of the industrial robot controller;

[0048] The movement operation of the 3D joystick along the X-axis controls the movement of the tool coordinate system in the X-axis of the base coordinate system; the movement operation of the 3D joystick along the Y-axis controls the movement of the tool coordinate system in the Y-axis of the base coordinate system; the movement operation of the 3D joystick along the Z-axis controls the movement of the tool coordinate system in the Z-axis of the base coordinate system; the rotation operation of the 3D joystick around the X-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Y-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Z-axis controls the rotation of the tool coordinate system around the Z-axis of the base coordinate system;

[0049] The force sensor is used to detect the force applied to the end of the robotic arm; the industrial robot controller limits the movement of the robotic arm according to the force applied to the end of the robotic arm.

[0050] A force sensor is installed at the end of the robotic arm; the force sensor is electrically connected to the main controller; the industrial robot controller controls the movement of the tool coordinate system of the robotic arm in the base coordinate system according to the operation of the 3D joystick and the detection data of the force sensor.

[0051] A teaching and teaching reproduction method of an industrial robot teaching programming system based on a 3D joystick, wherein the tool coordinate system at the end of the industrial robot mechanical arm is a Cartesian coordinate system; the teaching programming process of the system comprises the following steps;

[0052] Step S1, in the spatial absolute coordinate system, establish a mapping relationship between the movement and rotation of the 3D joystick in three directions and the movement and rotation in the Cartesian coordinate system of the corresponding industrial robot manipulator end, and through calculation and conversion, the movement and rotation range of the 3D joystick in each direction corresponds to the working range of the robot one by one;

[0053] Step S2, in the robot Cartesian coordinate system, according to the control algorithm, designing a position control loop based on the contact force to achieve the stability of the contact force when the robot arm interacts with the environment;

[0054] Step S3, establishing a probabilistic model, processing the robot motion trajectory data during the teaching process, and correcting accidental errors and human errors during the teaching process;

[0055] Step S4, operating the 3D joystick to change the posture of the industrial robot, specifically: the operator pre-sets the mapping relationship and function between the 3D joystick and the end position of the industrial robot, operates the 3D joystick, and changes the coordinates of the end of the robot arm to obtain the required posture;

[0056] Step S5, collecting the teaching trajectory, specifically: using a 3D joystick to control the robot to move within the working range, when it moves to the required trajectory starting point, through the storage function in the boot program, the subsequent trajectory points are sent to the host computer in real time, and the host computer stores them;

[0057] Step S6, determining whether the teaching is finished; if not, continue to operate the 3D joystick to teach the robot; if finished, end the teaching through the program and proceed to the next step;

[0058] Step S7, reproducing the teaching trajectory, specifically: after teaching the required trajectory, the operator clicks the teaching reproduction button on the human-computer interaction interface to make the robot perform the reproducing teaching action according to the stored trajectory to complete the specified task.

[0059] The method controls the operation and emergency stop of the industrial robot and controls the motion mode of the industrial robot through pre-set function buttons on the 3D joystick.

[0060] The teaching and teaching reproduction method sets specific parameters for controlling the industrial robot for each of the 3D joystick buttons and rockers according to different teaching requirements.

[0061] The control algorithm of step S2 introduces fuzzy control to ensure the safety of the industrial robot during the interaction with the external environment.

[0062] The boot procedure of step S5 includes the following specific steps:

[0063] Step A1, establishing communication with the host computer;

[0064] Step A2, receiving the location information sent by the host computer;

[0065] Step A3, controlling the robot to move to a corresponding position;

[0066] Step A4: store the robot's position information in real time and send it to the host computer;

[0067] Step A5, determine whether the teaching is finished;

[0068] Step A6: If no, return and continue teaching;

[0069] Step A7: If yes, obtain the teaching trajectory processed by the host computer;

[0070] Step A8: The robot reproduces the teaching trajectory data, assuming i represents the i-th trajectory point, and initializing i=1;

[0071] Step A9, i is gradually incremented by 1, so that the robot moves gradually to the i-th trajectory point until all teaching trajectory processing is completed.

[0072] In step S2, an impedance control algorithm is used to perform closed-loop control using the force data detected by the force sensor and the position of the robotic arm, so that the contact force of the robot during interaction with the outside world can be stabilized within a threshold range to ensure the safety of human-machine interaction.

[0073] The main controller can set the movement boundary of the robot arm. In step S7, the main controller determines the input trajectory position. If the next trajectory point position exceeds the limit of the movement boundary, the robot arm will not continue to run.

[0074] In step S3, the probabilistic model is a Gaussian mixture model.

[0075] Example:

[0076] In this case, the 3D joystick can be replaced by a 3D mouse.

[0077] like Figure 1 As shown in FIG. 1 , it is a structural diagram of the present invention, which mainly teaches and controls the robot according to the joystick and button information of the 3D joystick and the contact force of the force sensor, wherein the control algorithm, coordinate conversion calculation and the probabilistic model for processing the teaching trajectory are all encapsulated in the boot program and human-computer interaction program in the host computer, and the mapping relationship between the 3D joystick and the industrial robot in motion is shown in FIG. 2 and FIG. Figure 2a shown.

[0078] like Figure 3 As shown, it is an overall flow chart of the industrial robot teaching method based on a 3D joystick of the present invention, which includes the following steps:

[0079] Step 1, write a human-computer interaction program on the host computer;

[0080] Step 2, write the boot program on the robot controller;

[0081] Step 3, establish a direct connection between the host computer and the robot: for example, use a physical network cable to connect the host computer and the robot to the same local area network, and transmit data through the network cable.

[0082] Step 4, establish a connection between the 3D joystick and the host computer, and collect the operation data of the 3D joystick: for example, select a wired USB connection, connect the 3D joystick to the host computer, and read the operation data of the 3D joystick through a related program.

[0083] Step 5, operate the 3D joystick to change the robot's posture. For example, the operator controls the robot's movement by operating the joystick and predefined function buttons of the 3D joystick: when the operator controls the robot's posture through the 3D joystick, it is necessary to adjust the robot operation mode on the controller to automatic operation, and then use the 3D joystick to change the robot's posture through the boot program written on the controller.

[0084] Step 6, press the teach storage button on the 3D joystick to start storing the teaching trajectory. For example: by the operation in step 5, the robot can move arbitrarily within the working range. When it moves to the starting point of the trajectory, press the teach storage button to read the robot end position information in real time from the current position and send it to the host computer for storage.

[0085] Step 7, determine whether the teaching is finished; if teaching needs to continue, repeat step 5 to teach and store the unfinished trajectory. If it is finished, proceed to the next step.

[0086] Step 8, click the run button to teach and reproduce the processed trajectory. For example: the host computer processes the trajectory in the teaching process using the probabilistic model, optimizes the teaching trajectory, and then sends it to the robot controller. After that, the operator clicks the run button on the human-computer interaction interface, and the robot will teach and reproduce according to the processed trajectory.

[0087] Description of the usage of the entire process: The operator can control the position, operation mode and speed of the industrial robot by controlling the joystick on the 3D joystick and the defined function buttons, and can store the teaching trajectory through the corresponding buttons and save it to the host computer in real time. When the teaching is completed, the processed trajectory is sent to the robot controller through the human-computer interaction software on the host computer, and the boot program is run to reproduce the teaching trajectory.

[0088] The human-computer interaction software of step 1 is written in Microsoft Visual Studio 2019. Figure 4 The overall flow chart of the software is shown below. The specific steps of the flow chart are as follows:

[0089] Run the program to establish a connection with the 3D joystick;

[0090] Establish and bootstrap program connections;

[0091] Collect data of 3D joystick joystick and buttons;

[0092] Collect contact force information from force sensors;

[0093] Determine whether the emergency stop button set in the program is reset. If not, do not perform any operation on the data. If it is reset, determine the robot's working range. If the movement exceeds the robot's working range, do not perform any operation. If the position data is within the robot's working range, proceed to the next step.

[0094] Using impedance control, the robot's motion is constrained based on the contact force of the sensor;

[0095] Determine the operation mode of other axes to determine whether single-axis motion or multi-axis linkage is set. If single-axis linkage is set, filter out the position information of other axes and send the processed position information to the boot program. If any axis linkage is set, filter out the position information other than the set axis and send the corresponding position information to the boot program.

[0096] When the teaching storage button is pressed, the robot coordinate information sent by the boot program in real time starts to be saved;

[0097] Determine whether the teaching is finished. If finished, process the collected teaching trajectory through the probabilistic model and send it to the guidance program;

[0098] The boot program written on the robot controller in step 2 is written using CODESYS software, such as Figure 5 The following is the overall flow chart of the boot program. The specific steps are as follows:

[0099] Establish communication with the host computer;

[0100] Receive location information transmitted by the host computer;

[0101] Control the robot to move to the corresponding position;

[0102] Store the robot's location information in real time and send it to the host computer;

[0103] Determine whether teaching is finished;

[0104] If not, return and continue the teaching process;

[0105] If so, obtain the trajectory processed by the host computer;

[0106] Initialize i=1, i represents the i-th trajectory point;

[0107] Move to the i-th trajectory point until all taught trajectories are processed.

[0108] The boot program mainly consists of two parts: a communication program and a robot motion program. The communication program uses a socket to communicate with the host computer. The protocol used is the TCP protocol, which is used to receive the coordinate position sent by the host computer, convert it into the robot's motion instructions through the motion program, and collect the position information of the robot end in real time and send it to the host computer.

[0109] Specific implementation method, for example: the entire human-computer interaction software can be divided into a 3D joystick data acquisition and processing module, a communication module, a data processing module and a human-computer interaction interface module, and multi-threaded programming is used so that it can run synchronously. In the 3D joystick data acquisition and processing module: call the API function that comes with Windows to collect data, and pre-process the collected data according to the set emergency stop operation mode and single-axis and multi-axis linkage mode; the data processing module: mainly has three parts, the first part is to set the function of the 3D joystick button in advance to achieve a certain control ability of the 3D joystick button on the robot, the second part is the impedance control algorithm, which uses the collected contact force information to perform closed-loop control of the robot's position during movement to ensure safety during the human-computer interaction process, and the third part is the probabilistic model, which uses the probabilistic model to set the teaching trajectory Post-processing, to make certain corrections to human errors in the teaching process; Communication module: mainly uses sokcet and the boot program to establish communication, and then sends the processed position information to the boot program, through which the industrial robot is controlled in motion, and the robot position information sent by the boot program is received and saved for the teaching and reproduction process; Human-computer interaction interface: mainly used to display the current 3D joystick joystick data, the size of the contact force, whether the emergency stop button is reset, and the mode selection, so that the operator can teach the robot. There is also a run button, which is used to control the boot program to achieve teaching reproduction after the probabilistic model has processed the teaching trajectory.

[0110] The host computer stores the current position information and stores the position information of all teaching trajectories by establishing a six-dimensional vector in VS2019. After being processed by the probabilistic model, the position information is sent to the boot program one by one through socket communication. The boot program controls the robot to complete the corresponding movement.

[0111] In the key function setting of the first part of the data processing module, emergency stop and run buttons, speed addition and subtraction buttons are set to ensure the safety of the robot during operation, and the input position is also judged in the program. If it exceeds the limit, it will not continue to run, thereby enhancing the safety of the teaching process; the second part adopts an impedance control algorithm, which uses closed-loop control between force and position to ensure that the contact force of the robot can be stabilized within a certain range during the interaction with the outside world, thereby ensuring the safety of human-computer interaction; the third part introduces a Gaussian mixture model to make certain corrections to the human errors generated during the teaching process, thereby ensuring that the trajectory during the teaching reproduction process is consistent with the expected trajectory.

[0112] The 3D joystick has a wireless receiver, which is connected to a host computer through the wireless receiver, and the host computer can collect its data through relevant programs.

[0113] When the operator uses the 3D joystick to control the robot for teaching, he needs to first use the key on the controller to switch the robot's operating mode to automatic mode, then run the human-computer interaction program and the boot program, establish connections between the host computer, the boot program and the robot controller, and then use the 3D joystick's joystick and predefined function buttons to control the robot to move the desired teaching trajectory.

[0114] The function buttons can be redefined according to different applications and operator needs, and can be further configured if other functions are required.

Claims

1. An industrial robot teaching programming system based on a 3D joystick, characterized in that: Includes 3D joystick, master controller, industrial robot and force sensor; The 3D joystick accepts movement operations along three mutually perpendicular directions of X, Y and Z axes, and rotation operations around three mutually perpendicular axes of X, Y and Z axes; the industrial robot comprises a mechanical arm with at least three degrees of freedom and a robot controller; the base of the mechanical arm is provided with a base coordinate system, and the end of the mechanical arm is provided with a tool coordinate system; the force sensor is installed at the end of the mechanical arm; the 3D joystick and the force sensor are electrically connected to the input of the main controller; the main controller is electrically connected to the output of the industrial robot controller; The movement operation of the 3D joystick along the X-axis controls the movement of the tool coordinate system in the X-axis of the base coordinate system; the movement operation of the 3D joystick along the Y-axis controls the movement of the tool coordinate system in the Y-axis of the base coordinate system; the movement operation of the 3D joystick along the Z-axis controls the movement of the tool coordinate system in the Z-axis of the base coordinate system; the rotation operation of the 3D joystick around the X-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Y-axis controls the rotation of the tool coordinate system around the X-axis of the base coordinate system; the rotation operation of the 3D joystick around the Z-axis controls the rotation of the tool coordinate system around the Z-axis of the base coordinate system; The force sensor is used to detect the force applied to the end of the robotic arm; the industrial robot controller limits the movement of the robotic arm according to the force applied to the end of the robotic arm.

2. The 3D joystick-based industrial robot teaching and programming system according to claim 1, characterized in that: A force sensor is installed at the end of the robotic arm; the force sensor is electrically connected to the main controller; the industrial robot controller controls the movement of the tool coordinate system of the robotic arm in the base coordinate system according to the operation of the 3D joystick and the detection data of the force sensor.

3. A teaching and teaching reproduction method for an industrial robot teaching programming system based on a 3D joystick, characterized in that: The tool coordinate system at the end of the industrial robot arm is a Cartesian coordinate system; the teaching programming process of the system includes the following steps: Step S1, in the spatial absolute coordinate system, establish a mapping relationship between the movement and rotation of the 3D joystick in three directions and the movement and rotation in the Cartesian coordinate system of the corresponding industrial robot manipulator end, and through calculation and conversion, the movement and rotation range of the 3D joystick in each direction corresponds to the working range of the robot one by one; Step S2, in the robot Cartesian coordinate system, according to the control algorithm, designing a position control loop based on the contact force to achieve the stability of the contact force when the robot arm interacts with the environment; Step S3, establishing a probabilistic model, processing the robot motion trajectory data during the teaching process, and correcting accidental errors and human errors during the teaching process; Step S4, operating the 3D joystick to change the posture of the industrial robot, specifically: the operator pre-sets the mapping relationship and function between the 3D joystick and the end position of the industrial robot, operates the 3D joystick, and changes the coordinates of the end of the robot arm to obtain the required posture; Step S5, collecting the teaching trajectory, specifically: using a 3D joystick to control the robot to move within the working range, when it moves to the required trajectory starting point, through the storage function in the boot program, the subsequent trajectory points are sent to the host computer in real time, and the host computer stores them; Step S6, determining whether the teaching is finished; if not, continue to operate the 3D joystick to teach the robot; if finished, end the teaching through the program and proceed to the next step; Step S7, reproducing the teaching trajectory, specifically: after teaching the required trajectory, the operator clicks the teaching reproduction button on the human-computer interaction interface to make the robot perform the reproducing teaching action according to the stored trajectory to complete the specified task.

4. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: The method controls the operation and emergency stop of the industrial robot and controls the motion mode of the industrial robot through pre-set function buttons on the 3D joystick.

5. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 4, characterized in that: The teaching and teaching reproduction method sets specific parameters for controlling the industrial robot for each of the 3D joystick buttons and rockers according to different teaching requirements.

6. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: The control algorithm of step S2 introduces fuzzy control to ensure the safety of the industrial robot during the interaction with the external environment.

7. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: The boot procedure of step S5 includes the following specific steps: Step A1, establishing communication with the host computer; Step A2, receiving the location information sent by the host computer; Step A3, controlling the robot to move to a corresponding position; Step A4: store the robot's position information in real time and send it to the host computer; Step A5, determine whether the teaching is finished; Step A6: If no, return and continue teaching; Step A7: If yes, obtain the teaching trajectory processed by the host computer; Step A8: The robot reproduces the teaching trajectory data, assuming i represents the i-th trajectory point, and initializing i=1; Step A9, i is gradually incremented by 1, so that the robot moves gradually to the i-th trajectory point until all teaching trajectory processing is completed.

8. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: In step S2, an impedance control algorithm is used to perform closed-loop control using the force data detected by the force sensor and the position of the robotic arm, so that the contact force of the robot during interaction with the outside world can be stabilized within a threshold range to ensure the safety of human-machine interaction.

9. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: The main controller sets the motion boundary of the robot arm. In step S7, the main controller determines the input trajectory position. If the next trajectory point position exceeds the limit of the motion boundary, the robot arm will not continue to run.

10. The teaching and teaching reproduction method of the 3D joystick-based industrial robot teaching programming system according to claim 3, characterized in that: In step S3, the probabilistic model is a Gaussian mixture model.

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