KR102001214B1 - Apparatus and method for dual-arm robot teaching based on virtual reality - Google Patents

Abstract

A teaching device teaches a two-arm robot implemented in virtual reality, and uses a three-dimensional coordinate system generated based on a worker's pose information to determine joint rotation angles of a plurality of joints of the virtual reality two-arm robot in which the pose information is reflected. If confirmed, the arm movement information of the worker who moved the arm from the first point to the second point is collected. The driving torque applied to the motors of the plurality of joints is calculated based on the collected arm movement information and the identified joint rotation angle, and the trajectory for the robot arm movement from the first point to the second point based on the calculated driving torque. Create Then, the teaching information of the robot arm is displayed according to the generated trajectory.

Description

Apparatus and method for dual-arm robot teaching based on virtual reality}

The present invention relates to a virtual reality based bipedal robot teaching apparatus and method.

In recent years, interest in collaboration with both arms robots has increased. Most people in the field work with both arms, so you can do things similar to people when using a two-arm robot. In order to perform work using both arms robots, a teaching process is required to specify the position and posture of the robot arm over time.

There are two methods of teaching a robot: direct teaching and indirect teaching. Direct teaching refers to a method in which a person directly grasps the end of a robot and specifies a desired position and posture. All methods except this correspond to indirect teaching.

In the case of direct teaching, the robot can be easily taught because the user intuitively controls the movement of the robot. However, there is a problem that the connection between the unit operations that the robot takes is unnatural, and a time delay occurs from one unit operation to the next unit operation.

In the case of indirect teaching, the teaching pendant is used and the robot movement is taught step by step while directly checking the movement of the robot. Therefore, the teaching of the robot takes a long time. In order to compensate for this, a teaching method using a vision sensor and the like has been proposed, but there is a problem in that the accuracy of the work is low.

In order to solve these problems, a teaching method for both arms and robots that simulates the movement of both arms as much as possible when a person works. At the same time, there is a need for a method of monitoring the teaching process to increase accuracy. This is inefficient because one-sided robots only need to teach the one-arm, while two-armed robots must teach in consideration of the interaction of the other arm with one arm. Thus, there is a need for a way to teach both arms at once.

Accordingly, the present invention provides a virtual reality based bipedal robot teaching apparatus and method.

As an apparatus for teaching a two-armed robot implemented in a virtual reality that is one feature of the present invention for achieving the technical problem of the present invention,

A teaching device that collects teaching information for teaching a virtual reality two-arm robot according to a worker's movement, and confirms rotation angles of each of the plurality of joints provided in the virtual reality two-arm robot based on the teaching information, and checks the rotation angle. And an information processing device for generating a movement trajectory according to the driving torque applied to each of the plurality of joints for the joint motion determined based on the teaching information, and the virtual reality bi-arm robot and the virtual reality according to the movement of the teaching device. It includes a display device for providing the movement of both arms robot.

The teaching information includes pose information including three-dimensional hand position coordinate information that is the hand position information of the worker and four-dimensional wrist angle vector information that is wrist angle information, and when the worker's hand moves from the first point to the second point, It may include motion information including location information about the first point and the second point.

The information processing apparatus includes an end coordinate generation module for generating the 3D hand position coordinate information and the 4D wrist angle vector information as 3D end coordinates for applying to the virtual reality bipedal robot, based on the 3D end coordinates. A dynamics processing module for checking joint rotation angles of a plurality of joints constituting a robot arm in which pose information of a worker is reflected, and determining a joint movement path based on position information of the first and second points, and the virtual It may include a virtual robot processing module that reflects the pose information on the realistic two-arm robot or processes the robot arm of the two-arm robot to move according to the new trajectory.

As a method of teaching a two-arm robot implemented in virtual reality, the teaching apparatus, which is another feature of the present invention for achieving the technical problem of the present invention,

Confirming joint rotation angles of a plurality of joints of the virtual reality bipedal robot in which the pose information is reflected using a three-dimensional coordinate system generated based on the pose information of the worker, moving the arm from the first point to the second point Collecting arm movement information of an operator and calculating driving torque applied to motors provided in the plurality of joints based on the collected arm movement information and the identified joint rotation angle, the first point based on the calculated driving torque Generating a trajectory for the movement of the robot arm to the second point at, and displaying teaching information of the virtual reality both arms robot according to the generated trajectory.

The checking of the joint rotation angle may include collecting hand position information and wrist angle information of a worker carrying a teaching device as pose information of the worker, and extracting a 3D coordinate system based on the hand position information and wrist angle information. And when the virtual reality two-armed robot poses based on the three-dimensional coordinate system, identifying joint rotation angles for each of the plurality of joints.

The calculating of the driving torque may include: movement information including coordinate information about the first point and coordinate information about the second point when the worker carrying the teaching device moves the arm from the first point to the second point Determining a joint motion path through which the robot arm can move from a first point to a second point, and calculating torque acting on the joint based on the motion information and the identified joint rotation angle information. The torque may be calculated through inverse dynamic analysis.

After calculating the torque, if the torque calculated for any joint is greater than the maximum torque preset for the motor provided in the joint, generating an alarm, and generating a new trajectory from the operator based on the alarm When the request signal is generated, calculating a new trajectory for the joint motion path based on the coordinate information of the first point and the coordinate information of the second point.

According to the present invention, the two-arm robot can be taught to simulate as much as possible when the actual person works, and at the same time, the user can increase the accuracy of the two-arm robot teaching by monitoring the teaching process in real time.

In addition, according to the present invention, the user can teach both arms robots intuitively, and generate an optimal both arms robot motion path based on the attitude of both arms robots and whether each joint is overloaded to simulate the virtual robot.

1 is an illustration of an environment equipped with a two-armed robot teaching device according to an embodiment of the present invention.
2 is a structural diagram of an information processing apparatus according to an embodiment of the present invention.
3 is an illustration of a teaching device in accordance with an embodiment of the invention.
Figure 4 is a flow chart for a two-armed robot teaching method according to an embodiment of the present invention.
5 is an exemplary diagram of a virtual reality environment according to an embodiment of the present invention.
6 is an exemplary view of the teaching results of both arms robot provided through the virtual reality according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Hereinafter, a virtual reality-based bipedal robot teaching apparatus and method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is an illustration of an environment equipped with a two-armed robot teaching device according to an embodiment of the present invention.

As shown in FIG. 1, in the embodiment of the present invention, the teaching device 110 in which the operator possesses the two-arm robot teaching apparatus 100 for teaching the robot, the head mounted display (HMD) which is a display device worn by the operator ( 120 and the information processing device 130.

In the exemplary embodiment of the present invention, the information processing apparatus 130 will be described by taking physically independent components such as a computer or a server on which a program for robotic teaching simulation is installed as an example.

In addition, in the embodiment of the present invention, the robot is provided with two robot arms, and the robot arm is described as an example in which six components are connected by six rotating joints (joints) from a fixed reference configuration. However, it is not necessarily limited to this. Here, the sixth component and the sixth rotational joint portion are referred to as 'end portions' of the robot arm.

And six joints will be described with an example that each motor is provided for rotation. In addition, the robot of the virtual environment according to an embodiment of the present invention will be described with an example of a two-armed robot having a plurality of axes.

The teaching device 110 collects respective pose information and movement information of both hands of the worker according to the pose and movement of the worker's hand. Here, the pose information will be described with an example of including hand position information of the operator and wrist angle information indicating how much the wrist is bent. In addition, the movement information will be described with an example of including the position information of the first position and the trajectory information which is the position information of the second position when the operator's teaching device 110 is moved from the first position to the second position.

The teaching device 110 transmits the collected pose information and the movement information of both hands to the information processing apparatus 130. To this end, the teaching device 110 and the information processing device 130 are connected to transmit and receive pause information and motion information, and the connection form is not limited to any one method. The pose information collected by the teaching device 110 is used to confirm the rotation angles for each of a plurality of joints of the distal end of the robot arm implemented in virtual reality, and the motion information is used to position the distal end of the robot arm of both arms robots in a first position. It is used to calculate the trajectory for moving to the second position in.

The information processing apparatus 130 extracts the operator's pose information in the 3D coordinate system based on the hand position information and the wrist angle information included in the pose information received from the teaching device 110. The information processing apparatus 130 checks the angles of the joints of the arms of the two-armed robot, which are implemented in virtual reality, based on the pose information extracted by the three-dimensional coordinate system.

In addition, the information processing apparatus 130 calculates torque applied to the joints of the two-armed robot arm in the virtual reality currently posing based on the motion information received from the teaching device 110. Based on the calculated torque, the arms of the two-arm robots are moved from the first point to the second point through the new trajectory, or the angle for modifying the joint rotation angle of the two-arm robot arms is calculated.

The information processing apparatus 130 processes the simulation of the pose of the two-armed robot of the virtual reality or the movement of the arm moving from the first point to the second point with a new trajectory into the virtual reality so that the worker can grasp. The method of processing the teaching work environment and the simulation to be understood as the virtual reality may be performed through various methods, and thus, embodiments of the present invention are not limited to any one method.

The HMD 120 provides a workbench and a work object to the virtual reality as the information processing device 130 sees the worker from the perspective of both arms and robots. In addition, the HMD 120 displays the trajectory processed by the virtual reality together with both arms of the virtual reality to the worker. Here, the information displayed to the operator includes the arm posture of the two-armed robot, whether the plurality of joints constituting the arms of the two-armed robot are overloaded, and the joint movement or the movement path of the robot arm for each joint of the two-armed robot.

In such an environment, the structure of the information processing apparatus 130 for processing the motion information collected by the teaching device 110 will be described with reference to FIG. 2.

2 is a structural diagram of an information processing apparatus according to an embodiment of the present invention.

As shown in FIG. 2, the information processing device 130 includes an interface 131 and a processor 132. The processor 132 includes an end coordinate generation module 132-1, a dynamics processing module 132-2, a trajectory processing module 132-3, and a virtual robot processing module 132-4 according to its function. do.

Interface 131 interacts with teaching device 110 and HMD 120. The interface 131 receives pause information and motion information transmitted through the teaching device 110. The pose information includes hand position information and wrist angle information of the operator. The motion information includes position information of the first point and position information of the second point.

The interface 131 transmits the teaching work environment information of the virtual reality processed by the processor 132 to the HMD 120. Here, the virtual reality environment that the worker checks through the HMD 120 will be described with reference to FIG. 5.

5 is an exemplary diagram of a virtual reality environment according to an embodiment of the present invention.

As shown in (a) of FIG. 5, the information processing apparatus 130 performs a work using both arms robot 210, a work table 220 in front of the robot, and a two arms robot 210 on the work table 220. The virtual reality environment is implemented as the object 230 to be placed.

As shown in (b) of FIG. 5 through the HMD 120, the worker checks the work bench 220 and the object 230, as if the object 230 is viewed from the perspective of both arms robot 210. The position of the distal end of the robot arm of the two-arm robot 210 shown in FIG. 5A is a posture in which the robot arm position and the wrist joint of the two-arm robot 210 are rotated based on the pose information of the teaching device 110 carried by the operator. Appears.

2, the end coordinate generation module 132-1 of the information processing device 130 uses the hand position information and the wrist angle information included in the pose information received through the interface 131. Generate the end coordinates of. Here, the hand position information is three-dimensional coordinate information consisting of (x, y, z).

The wrist angle information is used to represent the wrist rotated according to the worker's posture, and is 4D vector information including (w, x, y, z). Here, each parameter of the 3D coordinate information and each parameter of the 4D vector information are already known matters, and detailed descriptions thereof will be omitted in the exemplary embodiment of the present invention.

In order to teach the two-arm robot based on the three-dimensional end coordinates generated based on the three-dimensional coordinate information and the four-dimensional vector information, the dynamics processing module 132-2 uses the robot arm of the two-arm robot in the virtual reality reflecting the posture of the operator. You should know the rotation angle of the joint according to the position and position of the distal end. To this end, the dynamics processing module 132-2 performs an inverse kinematic analysis of the three-dimensional end coordinates to calculate joint angles for each of the plurality of joints constituting the robot arm.

In order to calculate the rotation angle of the joint of the two-armed robot, which is realized in virtual reality through the inverse kinematic analysis of the three-dimensional end coordinates, the dynamics processing module 132-2 uses the inverse kinematics analysis method to construct the plurality of joints that constitute the two-armed robot Calculate the rotation angle for each. When the rotation angle of each of the plurality of joints is calculated through the inverse kinematic analysis method, the virtual robot processing module 132-4 reflects this on both arms of the virtual reality, so that the same pose as the worker is taken. The two-armed robot in virtual reality posing the same as the worker may be provided to the worker through the display 133.

In addition, when the interface 131 receives movement information of the operator moving his or her arm from the first point to the second point, the dynamics processing module 132-2 reflects the motion on both arms of the virtual reality to the same. Determine the joint movement that makes the movement visible. Here, the joint motion refers to a rotation angle that indicates how much the plurality of joints included in the robot arm rotate when the robot end portion moves from the first point to the second point.

The dynamics processing module 132-2 may inverse kinematic analysis of the position vector for the first point and the position vector for the second point to determine joint motion. Then, the torque of the motor provided in each of the plurality of joints necessary for generating the joint motion is calculated. If the calculated torque of the motor is larger than the preset maximum torque of the motor, the dynamics processing module 132-2 displays a warning on the joint through the virtual robot processing module 132-4 so that the operator can check it. give.

The trajectory processing module 132-3 generates an input signal for requesting generation of a new trajectory based on a warning joint motion path, and then the position vector for the first point, the position vector for the second point, and the joint Based on the calculated joint rotation angles for the joints on the path of motion, a new trajectory is created.

Alternatively, the trajectory processing module 132-3 calculates a rotation angle to change the rotation angle of the joint without generating a new trajectory. Here, since the trajectory processing module 132-3 generates a new trajectory or calculates a rotation angle may be performed through various methods, detailed descriptions are omitted in the exemplary embodiment of the present invention.

The virtual robot processing module 132-4 may apply the pose information and the movement information collected by the teaching device 110 to the two-armed robots of the virtual reality, so that other workers or users may use the display 133 of the information processing device 130. It provides the status of both arms robots.

In addition, the virtual robot processing module 132-4 includes the rotation angle of the joint generated by the dynamic processing module 132-2 and the new trajectory generated by the locus processing module 132-3. Through the display 133, the virtual reality is processed to check the virtual reality with both arms of the robot.

Meanwhile, the teaching device 110 that collects the hand position information and the wrist information of the operator, which is information necessary for the information processing apparatus 130 to check the joint angle and the trajectory, will be described with reference to FIG. 3.

3 is an illustration of a teaching device in accordance with an embodiment of the invention.

As shown in FIG. 3, the teaching device 110 uses the trigger button 111 located at the top of the teaching device 110 in a virtual reality in consideration of the shape of a hand when an operator grabs an object. It is set to catch any object being displayed. Here, the teaching device 110 will be described using an example of using equipment (eg, an oculus lift) that allows an operator to check a simulation through virtual reality.

When the input of the trigger button 111 occurs, the method for setting the two-arm robot to hold the object in the virtual reality can be executed in various ways, and thus, the embodiment of the present invention is not limited to any one method.

In addition, when the data storage button 112 is input among various buttons provided in the teaching device 110, the hand position information and the wrist angle information of the operator are transmitted to the information processing device 130. At this time, when the first button 112-1 of the data storage button 112 is pressed, the current hand position information of the worker is transmitted to the information processing device 130, and when the second button 112-2 is pressed, information collection and transmission is performed. This will be described with an example. According to the exemplary embodiment of the present invention, the position of the data storage button 112 is not necessarily limited to any one position.

A method of teaching both arms robots using the information processing device 130 in the above environment will be described with reference to FIG. 4.

Figure 4 is a flow chart for a two-armed robot teaching method according to an embodiment of the present invention.

As shown in FIG. 4, the information processing device 130 generates and displays both arms, a workbench, and a work object in virtual reality (S100). Here, the method of generating the two-armed robot, the work table, and the work object in the virtual reality may be implemented in various forms, and the embodiment of the present invention is not limited to any one method.

The information processing apparatus 130 collects pose information of the worker from the teaching device 110 (S101). The information processing apparatus 130 extracts a three-dimensional coordinate system using the pose information collected in step S101 (S102). In addition, according to the poses of the workers collected in the step S101 to determine the angle of rotation of each joint of the two-arm robot reflected in the two-arm robot of the virtual reality (S103). Here, in order to confirm each joint rotation angle of both arms robot, the information processing device 130 checks the joint rotation angle using the inverse kinematic analysis method of the three-dimensional coordinate system extracted in step S102.

In order for the information processing device 130 to check the joint rotation angle of both arms through the inverse kinematic analysis, the information processing device 130 constructs a constraint equation Φ as shown in Equation 1 below.

₆는 말단 부분의 물체 고정좌표계로부터 전역좌표계로의 자세변환 행렬, s'_6t 말단 부분 물체 고정좌표계에서 표시된 말단 작업부(tool center)까지의 위치 벡터를 나타낸다. 또한 r_t 는 말단 작업부의 전역 위치를 나타내며, 교시 디바이스로부터 데이터가 주어진다.Where r ₆ is the position vector of the distal part of the robot,

₆ shows a state converting matrix, s' _6t-terminal portion of the terminal position to the working portion (tool center) shown in the fixed object coordinate system, the vector in the global coordinate system from the object fixed coordinate system of the terminal portion. R _t also represents the global position of the end work, and is given data from the teaching device.

The information processing device 130 calculates the Jacobian by performing partial derivatives on the constraint equations Φ for the plurality of joint angle variables. The amount of change in each joint q calculated through the constraint equation and the Jacobian matrix can be expressed by Equation 2.

After applying the angle change amount of each joint through Equation 2, the information processing device 130 performs a forward kinematic analysis. Then construct the constraint equation and repeat the constraint equation construction and each joint variation calculation step until the error of the constraint equation converges within the predetermined range. Here, since the information processing apparatus 130 performs the forward kinematic analysis to verify the angle change amount in various ways, the embodiment of the present invention is not limited to any one method.

If each joint rotation angle of the two arms robot is confirmed through the step S130, the information processing device 130 collects the movement information that the worker carrying the teaching device 110 moves from the first point to the second point (S104). . The motion information includes three-dimensional coordinates of the position information for the first point and three-dimensional coordinates of the position information for the second point.

The information processing apparatus 130 calculates joint motions in which the arms of the both arms robot move from the first point to the second point according to the motion information collected in step S104 (S105). The information processing device 130 uses an inverse kinematic method to calculate the joint motion.

Then, the information processing device 130 is based on the angle of rotation of each joint identified in step S103, when the arm of both arms robot moves from the first point to the second point, the torque to be applied to the motor provided in the plurality of joints according to the joint motion To calculate (S106).

That is, the information processing device 130 calculates the reaction force and torque acting on the joints of both arms of the robot arm based on the equation shown in the following equation (3).

은 관절 좌표계를 기준으로 표현된 관절 반력 및 토크를 나타내는 항이고, R은 직교 좌표계를 기준으로 관절 반력 및 토크를 나타낸 항이다.here

Is a term representing joint reaction force and torque expressed with respect to the joint coordinate system, and R is a term representing joint reaction force and torque expressed with respect to the Cartesian coordinate system.

The information processing apparatus 130 converts the vector expressed in the joint coordinate system and the transformation matrix into a value based on the Cartesian coordinate system and calculates the torque to be applied to each motor.

The information processing apparatus 130 compares the drive torque applied to each motor calculated in step S106 with the maximum torque applied to each motor previously input by the operator. Then, it is checked whether the driving torque calculated for the arbitrary motor is greater than the maximum torque preset for the motor (S107).

If the calculated driving torque is greater than the maximum torque, the information processing device 130 generates an alarm (S108). When a locus generation request signal for instructing a worker to generate a new locus based on the alarm is input, the information processing apparatus 130 may determine the location at the first point based on the motion information collected in step S104 and each joint rotation angle checked in step S103. Create a new trajectory to move the robot arm to the second point or recalculates the rotation angle of each joint (S109). In addition, the information processing device 130 displays the teaching information of the two-arm robot, that is, the form in which the robot arm moves through the generated trajectory (S110).

The two-armed robot displayed through the virtual reality through the above procedure will be described with reference to FIG. 6.

6 is an exemplary view of the teaching results of both arms robot provided through the virtual reality according to an embodiment of the present invention.

As shown in (a) of FIG. 6, the information processing device 130 outputs rotation angles and torques of the robot arm joints of the two arms robots through inverse kinematics and inverse dynamics analysis in the robot teaching process. Then, the joints of both arms of the virtual reality are rotated according to the rotation angle of each joint based on the output data. While teaching the two-armed robot in virtual reality through this process, the operator can check the movement of the two-armed robot on the display.

And, as shown in Fig. 6 (b), when the drive torque applied to the motor forming any joint is greater than the maximum torque set in the motor, a warning message is generated. In the exemplary embodiment of the present invention, the warning message is provided in the form of a color reversal display indicating that an overload has occurred in the corresponding motor, but is not limited thereto. Through this, the operator can immediately check whether the multiple joints of both arms robots are overloaded and establish a new trajectory plan.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

Claims (13)

As a device to teach both arms robot implemented in virtual reality,
The teaching device, which the worker possesses, collects the pose and movement of the hand according to the movement of the worker's hand as teaching information for teaching the virtual reality two-armed robot provided through the head mounted display (HMD) worn by the worker. ,
Extracting a three-dimensional coordinate system from the poses and movements of the hand of the worker, and when the arms of the virtual reality bipedal robot take the poses and movements of the collected hand of the worker, for each of a plurality of joints of the virtual reality bipedal robot An information processing apparatus for checking a rotation angle and generating a movement trajectory according to driving torques applied to each of the plurality of joints by a joint motion determined based on the checked rotation angle and the teaching information collected by the teaching device, and
The HMD providing the movement of the virtual reality both arm robot moved by the virtual reality two-arm robot according to the movement of the teaching device
Virtual reality two-armed robot teaching device comprising a. The method of claim 1,
The teaching information includes pose information including three-dimensional hand position coordinate information, which is position information of the worker's hand, and four-dimensional wrist angle vector information, which is wrist angle information;
And the hand of the worker moves from the first point to the second point, the virtual reality bipedal robot teaching device including motion information including position information about the first point and the second point. The method of claim 2,
The information processing device,
An end coordinate generation module for generating the 3D hand position coordinate information and the 4D wrist angle vector information as 3D end coordinates for applying to the virtual reality both arms robot;
The joint rotation angles of the plurality of joints constituting the robot arm in which the pose information of the operator is reflected are determined based on the three-dimensional distal coordinates, and the joint motion path is determined based on the position information on the first and second points. Dynamics processing module, and
A virtual robot processing module that reflects pose information on both arms of the virtual reality or processes the robot arms of both arms to move according to a new trajectory
Virtual reality two-armed robot teaching device comprising a. The method of claim 3,
The dynamics processing module,
And applying an inverse kinematic analysis method to the three-dimensional distal coordinates to calculate joint rotation angles for the plurality of joints. The method of claim 4, wherein
The dynamics processing module,
A virtual reality bipedal robot teaching apparatus for calculating a torque of a motor through an inverse dynamic analysis for a motor forming each of a plurality of joints for the joint motion. The method of claim 5,
The dynamics processing module,
And requesting a virtual robot processing module to generate a warning for the motor when the calculated torque of the motor is greater than a preset torque of the corresponding motor. The method of claim 6,
When a new trajectory generation request signal is input by the operator based on the warning, the first position is based on the position vector for the first point, the position vector for the second point, and the joint rotation angle of the joint with the motor. Trajectory processing module to create a new trajectory for the robot arm to move from point to point 2
Virtual reality two-armed robot teaching device comprising a. The method of claim 7, wherein
The locus processing module,
And recalculate the joint rotation angle of the joint with the motor whose calculated torque is greater than the set torque so that the robot arm moves from the first point to the second point. As a teaching device for teaching both arms robot implemented in virtual reality,
Identifying joint rotation angles of a plurality of joints of the virtual reality bipedal robot in which the pose information is reflected using a three-dimensional coordinate system extracted from pose information including hand position information and wrist angle information of a worker with a teaching device; ,
Collecting arm movement information of the worker who moved the arm from the first point to the second point, the drive torque of the motor corresponding to the plurality of joints of the virtual reality both arms robot based on the collected arm movement information and the identified joint rotation angle Calculating the
Generating a trajectory for robot arm movement from the first point to a second point based on the calculated drive torque, and
Displaying the changed arms position of the virtual reality both arms robot moved based on the teaching information and the teaching information of the virtual reality both arms robot according to the generated trajectory through a head mounted display (HMD) worn by the worker;
Virtual reality two-armed robot teaching method comprising a. The method of claim 9,
Checking the joint rotation angle,
Extracting a 3D coordinate system based on the hand position information and wrist angle information, and
Confirming joint rotation angles for each of the plurality of joints when the virtual reality two-armed robot poses based on the three-dimensional coordinate system;
Virtual reality two-armed robot teaching method comprising a. The method of claim 10,
And applying an inverse kinematic analysis method to the three-dimensional coordinate system to calculate joint rotation angles for the plurality of joints. The method of claim 9,
Calculating the drive torque,
When the worker carrying the teaching device moves the arm from the first point to the second point, the robot arm collects motion information including coordinate information about the first point and coordinate information about the second point. Determining a joint motion path that can move from the point to the second point, and
Calculating torque acting on the joint based on the motion information and the checked joint rotation angle information;
Including;
And said torque is calculated through dynamic dynamics analysis. The method of claim 12,
After calculating the torque,
If the torque calculated for any joint is greater than the maximum torque preset for the motor provided in the joint, generating an alarm, and
Calculating a new trajectory for the joint motion path based on the coordinate information of the first point and the coordinate information of the second point when a new trajectory generation request signal is generated from the operator based on the alarm;
Virtual reality two-armed robot teaching method comprising a.

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