CN105479431A - Inertial navigation type robot demonstration equipment - Google Patents
Inertial navigation type robot demonstration equipment Download PDFInfo
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- CN105479431A CN105479431A CN201610039445.XA CN201610039445A CN105479431A CN 105479431 A CN105479431 A CN 105479431A CN 201610039445 A CN201610039445 A CN 201610039445A CN 105479431 A CN105479431 A CN 105479431A
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- teaching
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- inertial navigation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Numerical Control (AREA)
Abstract
The invention relates to inertial navigation type robot demonstration equipment. The inertial navigation type robot demonstration equipment comprises a demonstration device installed at the tail end of a robot and a master control computer for controlling the robot to move. The demonstration device comprises an inertial navigation module. A filter circuit is arranged at the output end of the inertial navigation module. An A/D converter is arranged at the output end of the filter circuit. A communication module is arranged at the output end of the A/D converter. The master control computer resolves signals detected by the inertial navigation module and outputs commands to the robot. In the demonstration process, only the demonstration device needs to be placed at the tail end of the robot, an operator carries the demonstration device to move directly, pose information is recorded by the master control computer, and then control commands are directly transmitted to the computer. The operation poses, movement parameters and process parameters of the robot at a demonstration point do not need to be repeatedly adjusted, the demonstration process is simple, troubles and labor are saved, the requirement for the operator is low, and safety is good.
Description
Technical field
The present invention relates to a kind of robot teaching equipment, be a kind of inertial navigation formula robot teaching equipment specifically, belong to robot teaching equipment technical field.
Background technology
Robot teaching system is the important component part of industrial robot control system, operator carries out manual teaching by teaching system, control realizes a series of different position and attitude, and record the information of each pose point, utilize robot language programming to make the orbiting motion of robot performing a programme requirement, realize the object that robot completes repetitive task in certain working environment.
Current robot teaching system can be divided three classes: GUIDANCE FOR AUTONOMIC GUIDED VEHICLES, off-line programing mode and based on virtual reality mode.Wherein, GUIDANCE FOR AUTONOMIC GUIDED VEHICLES is the mode that robot teaching system generally adopts.
Teaching playback, also referred to as direct teaching, carries out teaching by the direct control such as teach box or action bars robot arm to robot by operator.Typical teaching process relies on operator's observer robot and fixture thereof relative to the position and attitude of manipulating object, by the operation to teach box, repeatedly adjust the operation pose of robot of taught point place, kinematic parameter and technological parameter, then the data meeting job requirements are recorded, then proceed to down the teaching of a bit.After teaching process terminates, the data using these to record during robot actual motion, through interpolation operation, just can reproduce the robot pose that taught point records.Robot teaching Row control sketch as shown in Figure 1.
Adopt GUIDANCE FOR AUTONOMIC GUIDED VEHICLES to carry out robot teaching and there is following problem: (1) requires higher to the professional knowledge of operator and operative skill; and need scene closely teaching operation; therefore have certain danger, security is poor, must add and detect and brake as personnel protection measure.(2) operator produces the corresponding data that export for the direction motion of robot controller driven machine people to expectation by the power on joystick/torque sensor, cannot obtain the accurate posture information of robot to determine optimum operation attitude and the path of robot.(3) teaching process is loaded down with trivial details, time-consuming, needs the movement locus attitude and the position that repeatedly adjust robot according to job task, ageing poor.
Summary of the invention
The invention reside in GUIDANCE FOR AUTONOMIC GUIDED VEHICLES in solution prior art and cannot obtain the accurate posture information of robot to determine optimum operation attitude and the path of robot, teaching process is loaded down with trivial details, time-consuming, ageing poor, the deficiency that high and security is poor is required to operator, there is provided a kind of accurate posture information of robot that can obtain to determine optimum operation attitude and the path of robot, teaching process is simple, time saving and energy saving, ageing good, is suitable for general operation person and carries out operating and the good inertial navigation formula robot teaching equipment of security.
Inertial navigation formula robot teaching equipment of the present invention is achieved through the following technical solutions:
Inertial navigation formula robot teaching equipment, comprise the main control computer of teaching apparatus and the control motion being arranged on robot end, its special character is: described teaching apparatus comprises the inertial navigation module measuring linear acceleration in teaching apparatus teaching process and angular velocity signal, the output of described inertial navigation module is provided with filter circuit, the output of described filter circuit is provided with A/D converter analog signal being converted into data signal, the output of described A/D converter is provided with the communication module carrying out data transmission with main control computer, the signal that inertial navigation module detects by described main control computer carries out resolving and to robot output order,
Described inertial navigation module comprises three axis accelerometer and free gyroscope, and described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and output is connected with filter circuit;
Described main control computer on the basis of traditional industrial computer, increases signal processing module and module is resolved in instruction;
Described signal processing module is used for the attitude information resolved by the signal that communication module receives as teaching apparatus;
Described instruction resolves module for the posture information of taught point being resolved the control signal into robot.
The method utilizing above-mentioned inertial navigation formula robot teaching equipment to carry out robot teaching is as follows: when teaching starts, operator carries teaching apparatus, determine teaching starting point, in teaching process, operator carries teaching apparatus and moves according to teaching path, in motion process, three axis accelerometer and free gyroscope obtain acceleration and the angular velocity signal of teaching apparatus, circuit after filtering, A/D converter transfers to the signal processing module of main control computer, inertial navigation algorithm is utilized to obtain the posture information of each taught point in teaching device motion process, main control computer records this posture information, resolve module by instruction and resolve control instruction into robot, control instruction is transferred to robot by main control computer after being connected with robot, namely robot carries out work according to teaching path, complete teaching process.
Inertial navigation formula robot teaching equipment of the present invention, only teaching apparatus need be placed on robot end during teaching, operator carries teaching apparatus first motion, posture information is recorded by main control computer, then control instruction is directly flowed to computer, without the need to repeatedly adjusting the operation pose of robot of taught point place, kinematic parameter and technological parameter, teaching process is simple, save trouble and labor, also lower to the requirement of operating personnel, security is good.
Accompanying drawing explanation
Fig. 1: robot teaching general flow chart in prior art;
Fig. 2: the structural representation of the present invention's usual navigation-type robot teaching equipment;
The data flow diagram of Fig. 3: Fig. 2;
Fig. 4: robot teaching flow chart of the present invention;
Fig. 5: inertial navigation algorithm schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, in the every other embodiment not having to obtain under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1: with reference to figure 2-3, this inertial navigation formula robot teaching equipment, comprise the main control computer of teaching apparatus and the control motion being arranged on robot end, described teaching apparatus comprises the inertial navigation module measuring linear acceleration in teaching apparatus teaching process and angular velocity signal, the output of described inertial navigation module is provided with filter circuit, the output of described filter circuit is provided with A/D converter analog signal being converted into data signal, the output of described A/D converter is provided with the communication module carrying out data transmission with main control computer, the signal that inertial navigation module detects by described main control computer carries out resolving and to robot output order, described inertial navigation module comprises three axis accelerometer and free gyroscope, and described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and output is connected with filter circuit, described main control computer on the basis of traditional industrial computer, increases signal processing module and module is resolved in instruction, described signal processing module is used for the attitude information resolved by the signal that communication module receives as teaching apparatus, described instruction resolves module for the posture information of taught point being resolved the control signal into robot.
With reference to figure 4-5, the teaching method of this teaching device is as follows: when teaching starts, operator carries teaching apparatus, determine teaching starting point, in teaching process, operator carries teaching apparatus and moves according to teaching path, in motion process, three axis accelerometer and free gyroscope obtain acceleration and the angular velocity signal of teaching apparatus, circuit after filtering, A/D converter transfers to the signal processing module of main control computer, inertial navigation algorithm is utilized to obtain the posture information of each taught point in teaching device motion process, main control computer records this posture information, resolve module by instruction and resolve control instruction into robot, control instruction is transferred to robot by main control computer after being connected with robot, namely robot carries out work according to teaching path, complete teaching process.
Described inertial navigation algorithm refers to that the acceleration in teaching apparatus teaching process measured by three axis accelerometer, the acceleration under inertial coodinate system is converted to by direction cosine matrix, in transfer process, need the angular speed utilizing free gyroscope to export in real time to carry out attitude reference calculating, i.e. real-time update direction cosine matrix, then the position that carrying out navigates calculates teaching apparatus and velocity information, extract attitude and course information simultaneously from attitude reference computational process.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. inertial navigation formula robot teaching equipment, comprise the main control computer of teaching apparatus and the control motion being arranged on robot end, it is characterized in that: described teaching apparatus comprises the inertial navigation module measuring linear acceleration in teaching apparatus teaching process and angular velocity signal, the output of described inertial navigation module is provided with filter circuit, the output of described filter circuit is provided with A/D converter analog signal being converted into data signal, the output of described A/D converter is provided with the communication module carrying out data transmission with main control computer, the signal that inertial navigation module detects by described main control computer carries out resolving and to robot output order.
2. inertial navigation formula robot teaching equipment according to claim 1, it is characterized in that: described inertial navigation module comprises three axis accelerometer and free gyroscope, described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and output is connected with filter circuit.
3. inertial navigation formula robot teaching equipment according to claim 1 or 2, is characterized in that: described main control computer on the basis of traditional industrial computer, increases signal processing module and module is resolved in instruction.
4. inertial navigation formula robot teaching equipment according to claim 3, is characterized in that: described signal processing module is used for the attitude information resolved by the signal that communication module receives as teaching apparatus.
5. inertial navigation formula robot teaching equipment according to claim 3 or 4, is characterized in that: described instruction resolves module for the posture information of taught point being resolved the control signal into robot.
6. utilize inertial navigation formula robot teaching equipment described in the arbitrary claim of claim 1-5 to carry out the method for robot teaching as follows: when teaching starts, operator carries teaching apparatus, determine teaching starting point, in teaching process, operator carries teaching apparatus and moves according to teaching path, in motion process, three axis accelerometer and free gyroscope obtain acceleration and the angular velocity signal of teaching apparatus, circuit after filtering, A/D converter transfers to the signal processing module of main control computer, inertial navigation algorithm is utilized to obtain the posture information of each taught point in teaching device motion process, main control computer records this posture information, resolve module by instruction and resolve control instruction into robot, control instruction is transferred to robot by main control computer after being connected with robot, namely robot carries out work according to teaching path, complete teaching process.
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| CN201610039445.XA CN105479431A (en) | 2016-01-21 | 2016-01-21 | Inertial navigation type robot demonstration equipment |
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| CN201610039445.XA CN105479431A (en) | 2016-01-21 | 2016-01-21 | Inertial navigation type robot demonstration equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965512A (en) * | 2016-07-15 | 2016-09-28 | 爱普（福建）科技有限公司 | Method for motion reappearance of industrial multi-axial mechanical arm |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN107414839A (en) * | 2017-09-15 | 2017-12-01 | 中山大学 | Snake-shaped robot control system |
| CN109531579A (en) * | 2018-12-30 | 2019-03-29 | 北京猎户星空科技有限公司 | Mechanical arm teaching method, device, system, medium, controller and mechanical arm |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105965512A (en) * | 2016-07-15 | 2016-09-28 | 爱普（福建）科技有限公司 | Method for motion reappearance of industrial multi-axial mechanical arm |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN107414839A (en) * | 2017-09-15 | 2017-12-01 | 中山大学 | Snake-shaped robot control system |
| CN109531579A (en) * | 2018-12-30 | 2019-03-29 | 北京猎户星空科技有限公司 | Mechanical arm teaching method, device, system, medium, controller and mechanical arm |
| CN109531579B (en) * | 2018-12-30 | 2022-03-08 | 北京猎户星空科技有限公司 | Mechanical arm demonstration method, device, system, medium, controller and mechanical arm |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
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Application publication date: 20160413 |
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