CN104700705B - industrial robot teaching system - Google Patents
industrial robot teaching system Download PDFInfo
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- CN104700705B CN104700705B CN201510024696.6A CN201510024696A CN104700705B CN 104700705 B CN104700705 B CN 104700705B CN 201510024696 A CN201510024696 A CN 201510024696A CN 104700705 B CN104700705 B CN 104700705B
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- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims description 41
- 230000008569 process Effects 0.000 claims description 21
- 238000007726 management method Methods 0.000 claims description 19
- 238000013523 data management Methods 0.000 claims description 18
- 230000002452 interceptive effect Effects 0.000 claims description 16
- 238000002372 labelling Methods 0.000 claims description 15
- 238000012795 verification Methods 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 5
- 238000012217 deletion Methods 0.000 claims description 3
- 230000037430 deletion Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention provides an industrial robot teaching system. The system comprises a mobile platform, an industrial robot, a numerical control system, a hand wheel, an industrial robot controller, a handheld demonstrator and an industrial computer. The industrial robot is fixed on the mobile platform and capable of moving along with the mobile platform and comprises a tail end for performing the technological operation. The numerical control system is in communication connection with the mobile platform to control the moving of the mobile platform. The hand wheel is in communication connection with the numerical control system to be operated by an operator and to control the moving of the mobile platform through the communication with the numerical control system. The industrial robot controller is in communication connection with the industrial robot to control moving and technological operations of the tail end of the industrial robot and is further in communication connection with the numerical control system. The handheld demonstrator is in communication connection with the industrial robot controller for the operator to input acquisition instructions and control the industrial robot to move through the communication with the industrial robot controller and to be used for the operator to input technological marks. The industrial computer is in communication connection with the numerical control system and the industrial robot controller.
Description
Technical field
The present invention relates to industrial robot application, more particularly, to a kind of industrial robot teaching system.
Background technology
Development with robot industry and the needs of modern manufacturing technique, increasing main equipment manufacturer
Start for Industrial Robot Technology to be applied to parts or assembling external surface spraying.Due to a lot of application element outer surface bodies
Huge, complex-shaped, existing industrial robot is unable to reach the demand of surface all standing and motility at all, thus existing
The robot spraying system for large parts often adopt multiple degrees of freedom mobile platform add six degree of freedom spraying robot
The pattern of people.Existing teaching programmed method just in industrial machine human body, for example, is announced on July 9th, 2014 mostly
Chinese patent application publication No. is that the patent documentation of CN103909516A discloses a kind of robot teaching system, robot teaching
Auxiliary device and robot teaching method, the Chinese patent application publication No. announced on January 8th, 2014 is CN103501969A
Patent documentation disclose a kind of teaching apparatus of robot, robot device, the teaching apparatus of robot control method with
And the control program of the teaching apparatus of robot, on July 16th, 2014, the Chinese patent application publication No. of announcement was
The patent documentation of CN103921265A disclosed a kind of robot teaching system and robot teaching method, in May 21 in 2014
The Chinese patent application publication No. that day announces is that the patent documentation of CN103809463A discloses one kind for simulator robot
Taught point instruction system of selection, on May 7th, 2014 announce Chinese patent application publication No. be CN103778843A special
Sharp document discloses a kind of industrial robot teaching reproducting method, and what the existing patent of great majority was given is that industrial robot is independently marked
Determine it is only necessary to gather the movement locus characteristic point of industrial robot itself, and be stored in robot controller memorizer, fresh
There are the industrial robot teaching formulations being furnished with mobile platform.
Content of the invention
In view of problem present in background technology, it is an object of the invention to provide a kind of industrial robot teaching system,
It can meet the teaching demand of the industrial robot being furnished with mobile platform.
Another object of the present invention is to providing a kind of industrial robot teaching system, it can be simultaneously full in operation process
Sufficient mobile platform and the motion synchronicity requirement of industrial robot and the sets requirement of technological parameter.
To achieve these goals, the invention provides a kind of industrial robot teaching system, it includes：Mobile platform；
Industrial robot, is fixed on mobile platform, can move with mobile platform, and has the end for executing technological operation
End；Digital control system, is communicatively coupled to mobile platform, to control the motion of mobile platform；Handwheel, is communicatively coupled to digital control system,
For operator operation and the communication between digital control system to control mobile platform move；Industrial robot controller,
It is communicatively coupled to industrial robot to control motion and the technological operation of the end of industrial robot, and be communicatively coupled to numerical control system
System；Hand-held demonstrator, is communicatively coupled to industrial robot controller, for operator input acquisition instructions and via with industry
Communication between robot controller come to control industrial robot motion and for operator input technique labelling；Industrial computer,
It is communicatively coupled to digital control system and industrial robot controller.Hand-held demonstrator has：Data acquisition module, response is from behaviour
The instruction of work person, to gather the position data of the end of industrial robot, via industrial machine via industrial robot controller
The position data of the mobile platform of people's controller and numerical control system acquisition and the technique labelling of operator's input, and will collect
The position data of the end of industrial robot, the position data of mobile platform and technique labelling output.Industrial computer has
Have：Technological parameter management module, has technological parameter with data base, can store and manage the end execution work of industrial robot
The technological parameter of skill operation；Bottom data management module, has bottom and with data base and can write assignment file, reception is derived from
The position data of the end of the industrial robot of data acquisition module, the position data of mobile platform and technique labelling and according to
Prescribed form writes assignment file, and by assignment file storage and by bottom data base administration；Task is downloaded and performing module,
Receive the assignment file of storage from bottom data management module and assignment file generated instruction code and by instruction code
It is downloaded to digital control system and industrial robot controller, digital control system and industrial robot controller are based on the instruction code downloaded
And the signal that put in place by the end that communication link therebetween fetches mutual verification industrial robot and mobile platform are put in place
The signal industrial robot controller that signal, the signal being put in place based on the end of the industrial robot verifying and mobile platform are put in place
Control the motion of industrial robot and digital control system controls the motion of mobile platform, so that the fortune of the end of industrial robot
Dynamic and mobile platform motion reaches synchronization.
Beneficial effects of the present invention are as follows：
The present invention disclosure satisfy that the teaching demand of the industrial robot being furnished with mobile platform, is furnished with multivariant movement and puts down
The motion feature point that the industrial robot of platform can take into account mobile platform and industrial robot when carrying out teaching programming simultaneously is adopted
The problem of the processing parameter setting in collection and operation process, not only can meet mobile platform synchronous with industrial robot motion
Property require moreover it is possible to conveniently set up and change task technological parameter, meanwhile, the present invention can enter line pipe to all tutorial programs
Reason, and can be with monitor in real time teaching and tasks carrying overall process.Present invention can apply to target is larger, utilize mobile platform
Large scale extends the industrial robot teaching of the work space of industrial robot, disclosure satisfy that two sets and more than two sets are furnished with movement
Industrial robot system's teaching programming of platform needs, easy and simple to handle directly perceived, required time is short, convenient manage, for improving enterprise
Equipment efficiency of usage, creation maximum economic benefit provide strong technical support.
Brief description
Fig. 1 is the composition schematic diagram of the industrial robot teaching system according to the present invention；
Fig. 2 is the control principle drawing of the industrial robot teaching system according to the present invention.
Wherein, description of reference numerals is as follows：
1 mobile platform 61 data acquisition module
2 industrial robot 7 industrial computer
3 digital control system 71 technological parameter management module
4 handwheel 72 bottom data management module
5 industrial robot controller 73 task is downloaded and performing module
6 hand-held demonstrator 74 interactive module
Specific embodiment
To describe the industrial robot teaching system according to the present invention with reference to the accompanying drawings in detail.
See figures.1.and.2, included according to the industrial robot teaching system of the present invention：Mobile platform 1；Industrial robot
2, it is fixed on mobile platform 1, can move with mobile platform 1, and there is the end 21 for executing technological operation；Number
Control system 3, is communicatively coupled to mobile platform 1, to control the motion of mobile platform 1；Handwheel 4, is communicatively coupled to digital control system 3,
For operator operation and the communication between digital control system 3 to control mobile platform 1 to move；Industrial robot controller
5, it is communicatively coupled to industrial robot 2 to control motion and the technological operation of the end 21 of industrial robot 2, and be communicatively coupled to
Digital control system 3；Hand-held demonstrator 6, is communicatively coupled to industrial robot controller 5, for operator's input acquisition instructions simultaneously
Communication between industrial robot controller 5 to control industrial robot 2 to move and to supply operator's input technique labelling；
And industrial computer 7, it is communicatively coupled to digital control system 3 and industrial robot controller 5.Hand-held demonstrator 6 has：Data
Acquisition module 61, response is derived from the instruction of operator, to gather the end of industrial robot 2 via industrial robot controller 5
21 position data, the position data via industrial robot controller 5 and the mobile platform 1 of digital control system 3 collection and behaviour
The technique labelling of work person's input, and the position by the position data of the end 21 of the industrial robot collecting 2, mobile platform 1
Data and the output of technique labelling.Industrial computer 7 has：Technological parameter management module 71, has technological parameter with data base,
Can store and manage industrial robot 2 end 21 execute technological operation technological parameter (taking automatic spraying system as a example,
Technological parameter mainly has spraying rate, flow, atomization, sector, spray distance etc.)；Bottom data management module 72, has bottom
With data base and assignment file can be write, receive the position of the end 21 of industrial robot 2 from data acquisition module 61
Data, the position data of mobile platform 1 and technique labelling simultaneously write assignment file according to prescribed form, and assignment file is deposited
Store up and by bottom data base administration；Task is downloaded and performing module 73, receives the storage from bottom data management module 72
Assignment file and assignment file is generated instruction code and instruction code is downloaded to digital control system 3 and industrial robot controls
Device 5, digital control system 3 and industrial robot controller 5 are fetched based on the instruction code downloaded and by communication link therebetween
Signal that mutually end 21 of verification industrial robot 2 puts in place and the signal that mobile platform 1 puts in place, the industrial machine based on verification
Signal that the end 21 of people 2 puts in place and the signal industrial robot controller 5 that mobile platform 1 puts in place control industrial robot 2
Move and the motion of digital control system 3 control mobile platform 1, so that the motion of end 21 of industrial robot 2 and movement are flat
The motion of platform 1 reaches synchronization.It should be noted that the end 21 of industrial robot 2 can have multiple degree of freedom, performed to adapt to
Technological operation require (for example aforesaid spray distance).
The present invention disclosure satisfy that the teaching demand of the industrial robot 2 being furnished with mobile platform 1, is furnished with multivariant movement
It is special with the motion of industrial robot 1 that the industrial robot 2 of platform 1 can take into account mobile platform 1 when carrying out teaching programming simultaneously
Levy the problem of the processing parameter setting in a collection and operation process, mobile platform 1 and industrial robot 2 not only can be met
Motion synchronicity requires moreover it is possible to conveniently setting up and changing task technological parameter, and meanwhile, the present invention can be to all tutorial programs
It is managed, and can be with monitor in real time teaching and tasks carrying overall process.Present invention can apply to target is larger, using shifting
Moving platform large scale extends the industrial robot teaching of the work space of industrial robot, disclosure satisfy that two sets and more than two sets are joined
The industrial robot system's teaching having mobile platform programs needs, easy and simple to handle directly perceived, required time is short, convenient management, for carrying
High business equipment utilization ratio, creation maximum economic benefit provide strong technical support.
In an embodiment of the industrial robot teaching system according to the present invention, industrial robot 2 is securable to move
The end of platform 1.
In the industrial robot teaching system according to the present invention, described communication connection connects for wire communication.
In the industrial robot teaching system according to the present invention, the position of the end 21 of industrial robot 2 adopts joint
Angle or end pose (i.e. position and attitude to be represented with six-freedom degree (three rectangular coordinates and three anglecs of rotation)) carry out table
Show.
In the industrial robot teaching system according to the present invention, with reference to Fig. 2, the task of industrial computer 7 is downloaded and is held
The assignment file of the storage from bottom data management module 72 receiving is generated digital control system 3 and industrial machine by row module 73
The instruction code that people's controller 5 is capable of identify that, and verification sentence is added on instruction code, and by added with the instruction verifying sentence
Code is downloaded to digital control system 3 and industrial robot controller 5 respectively, and digital control system 3 and industrial robot controller 5 pass through two
Communication connection between person the signal that put in place using the end 21 that verification sentence verifies mutually industrial robot 2 and mobile flat
Signal that the signal that platform 1 puts in place, the signal that puts in place of end 21 of the industrial robot 2 based on verification and mobile platform 1 put in place and
Instruction code, industrial robot controller 5 controls the motion of industrial robot 2 and digital control system 3 controls the fortune of mobile platform 1
Dynamic, so that the motion of the motion of end 21 of industrial robot 2 and mobile platform 1 reaches synchronization.
In the industrial robot teaching system according to the present invention, with reference to Fig. 2, industrial computer 7 also can have：Interaction mould
Block 74, for operator's operation, is communicatively coupled to technological parameter management module 71；When interactive module 74 response is from operator's operation
During the instruction of startup technological operation of input, interactive module 74 sends process data process to technological parameter management module 71 please
Ask, technological parameter management module 71 receives process data process request the foundation process data process that interactive module 74 sends
The technological parameter of the technological operation that the end 21 of the industrial robot 2 that technological parameter management module 71 is stored by request executes is by work
Skill parameter is recalled with data base and is sent to bottom data management module 72, and bottom data management module 72 receives technological parameter management
Related process labelling in assignment file is simultaneously replaced with technological parameter, and assignment file is deposited again by the technological parameter of module 71
Storage, task is downloaded and performing module 73 receive from bottom data management module 72 the assignment file storing again and by task
File generated instruction code is simultaneously downloaded to industrial robot controller 5, so that industrial robot controller 5 utilizes in instruction code
Technological parameter come to control industrial robot 2 end 21 execute technological operation.
In the industrial robot teaching system according to the present invention, interactive module 74 is based on and technological parameter management module 71
Communication showing, to inquire about, to monitor and the end 21 of industrial robot 2 of edit process parameter management module 71 storage executes
The technological parameter of technological operation.For example, editor may include insertion, deletion, modification etc..
In the industrial robot teaching system according to the present invention, with reference to Fig. 2, interactive module 74 also can be communicatively coupled to bottom
Layer data management module 72, with the industrial robot 2 in the assignment file of display, inquiry and monitoring bottom data management module 72
The position data of end 21, the position data of mobile platform 1 and technique labelling and/or technological parameter and to assignment file
Deletion action.
In the industrial robot teaching system according to the present invention, with reference to Fig. 2, interactive module 74 also can be communicatively coupled to appoints
Business is downloaded and performing module 73, with the instruction code showing, inquiring about and monitor task is downloaded and performing module 73 generates.
In an enforcement of the industrial robot teaching system according to the present invention, interactive module 74 can be man machine interface.
Claims (9)
1. a kind of industrial robot teaching system is it is characterised in that include：
Mobile platform (1)；
Industrial robot (2), is fixed on mobile platform (1), can move with mobile platform (1), and has for holding
The end (21) of row technological operation；
Digital control system (3), is communicatively coupled to mobile platform (1), to control the motion of mobile platform (1)；
Handwheel (4), is communicatively coupled to digital control system (3), for operator's operation the communication between digital control system (3)
Mobile platform (1) is controlled to move；
Industrial robot controller (5), is communicatively coupled to industrial robot (2) to control the end (21) of industrial robot (2)
Motion and technological operation, and be communicatively coupled to digital control system (3)；
Hand-held demonstrator (6), is communicatively coupled to industrial robot controller (5), so that operator inputs acquisition instructions and warp
To control industrial robot (2) to move by the communication between industrial robot controller (5) and to supply operator's input technique mark
Note, and have：
Data acquisition module (61), response is derived from the instruction of operator, to gather industrial machine via industrial robot controller (5)
The position data of end (21) of device people (2), gather mobile platform via industrial robot controller (5) and digital control system (3)
(1) position data and the technique labelling of acquisition operations person's input, and the end (21) by the industrial robot collecting (2)
Position data, the position data of mobile platform (1) and technique labelling output；And
Industrial computer (7), is communicatively coupled to digital control system (3) and industrial robot controller (5), and has：
Technological parameter management module (71), has technological parameter with data base, can store and manage the end of industrial robot (2)
End (21) executes the technological parameter of technological operation；
Bottom data management module (72), has bottom and with data base and can write assignment file, receive and be derived from data acquisition
The position data of end (21) of the industrial robot (2) of module (61), the position data of mobile platform (1) and technique labelling
And write assignment file according to prescribed form, and by assignment file storage and by bottom data base administration；
Task is downloaded and performing module (73), receives the assignment file of storage from bottom data management module (72) and will appoint
Business file generated instruction code and instruction code is downloaded to digital control system (3) and industrial robot controller (5), digital control system
And industrial robot controller (5) based on the instruction code downloaded and passes through communication link therebetween and fetch to verify mutually (3)
Signal that the end (21) of industrial robot (2) puts in place and the signal that mobile platform (1) puts in place, the industrial robot based on verification
(2) signal that end (21) puts in place and the signal that mobile platform (1) puts in place, industrial robot controller (5) controls industrial machine
The motion of device people (2) and digital control system (3) control the motion of mobile platform (1), so that the end of industrial robot (2)
(21) motion and the motion of mobile platform (1) reach synchronization；
Wherein, the task of industrial computer (7) is downloaded and performing module (73) will receive from bottom data management module
(72) assignment file of storage generates the instruction code that digital control system (3) and industrial robot controller (5) are capable of identify that, and
Verification sentence is added on instruction code, and the instruction code added with verification sentence is downloaded to digital control system (3) and work respectively
Industry robot controller (5), digital control system (3) and industrial robot controller (5) pass through communication connection profit therebetween
Verify mutually the signal that the end (21) of industrial robot (2) puts in place and the signal that mobile platform (1) puts in place with verification sentence,
Signal and instruction code that the signal that puts in place of end (21) of the industrial robot (2) based on verification and mobile platform (1) put in place,
Industrial robot controller (5) control industrial robot (2) motion and digital control system (3) control mobile platform (1) motion,
So that the motion of the motion of end (21) of industrial robot (2) and mobile platform (1) reaches synchronization.
2. industrial robot teaching system according to claim 1 is it is characterised in that industrial robot (2) is fixed on shifting
The end of moving platform (1).
3. industrial robot teaching system according to claim 1 is it is characterised in that described communication connection is wire communication
Connect.
4. industrial robot teaching system according to claim 1 is it is characterised in that the end of industrial robot (2)
(21) position to be represented using joint angle or end pose.
5. industrial robot teaching system according to claim 1 is it is characterised in that industrial computer (7) also has：
Interactive module (74), for operator's operation, is communicatively coupled to technological parameter management module (71)；
When interactive module (74) response from operator operation input startup technological operation instruction when, interactive module (74) to
Technological parameter management module (71) sends process data and processes request, and technological parameter management module (71) receives interactive module
(74) process data sending processes request and processes what technological parameter management module (71) was stored by request according to process data
The technological parameter of the technological operation that the end (21) of industrial robot (2) executes is recalled with data base by technological parameter and is sent to bottom
Layer data management module (72), the technological parameter of bottom data management module (72) reception technological parameter management module (71) simultaneously will
Related process labelling in assignment file replaces with technological parameter, and assignment file is stored again, and task is downloaded and execution mould
Block (73) receives the assignment file storing again being derived from bottom data management module (72) and assignment file is generated instruction generation
Code is simultaneously downloaded to industrial robot controller (5), so that industrial robot controller (5) utilizes the technological parameter in instruction code
End (21) to control industrial robot (2) executes technological operation.
6. industrial robot teaching system according to claim 5 it is characterised in that
Interactive module (74) shows, inquires about, monitoring and edit process based on the communication with technological parameter management module (71)
The end (21) of the industrial robot (2) that parameter management module (71) stores executes the technological parameter of technological operation.
7. industrial robot teaching system according to claim 6 it is characterised in that
Interactive module (74) is also communicatively coupled to bottom data management module (72), to show, to inquire about and to monitor bottom data pipe
The position data of end (21) of industrial robot (2) in the assignment file of reason module (72), the positional number of mobile platform (1)
According to this and technique labelling and/or technological parameter and the deletion action to assignment file.
8. industrial robot teaching system according to claim 7 it is characterised in that
Interactive module (74) is also communicatively coupled to task and downloads and performing module (73), is downloaded with display, inquiry and monitor task
The instruction code generating with performing module (73).
9. the industrial robot teaching system according to any one of claim 5-8 is it is characterised in that interactive module (74)
For man machine interface.
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| CN201510024696.6A CN104700705B (en) | 2015-01-19 | 2015-01-19 | industrial robot teaching system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105549417A (en) * | 2015-12-10 | 2016-05-04 | 南京熊猫电子股份有限公司 | Robot teaching system and method thereof |
| CN105479468B (en) * | 2015-12-29 | 2018-02-09 | 浙江瑞鹏机器人科技有限公司 | A kind of tele-robotic motion controller |
| CN105665970B (en) * | 2016-03-01 | 2018-06-22 | 中国科学院自动化研究所 | For the path point automatic creation system and method for welding robot |
| CN106527224A (en) * | 2016-11-05 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method for equipment |
| CN106737663A (en) * | 2016-11-28 | 2017-05-31 | 山东汇川汽车部件有限公司 | Truss method for controlling robot |
| CN106647529B (en) * | 2017-01-18 | 2018-12-18 | 北京工业大学 | A kind of intelligent teaching system towards the accurate tracing control in six-shaft industrial robot track |
| CN108320606A (en) * | 2017-01-18 | 2018-07-24 | 上海福赛特机器人有限公司 | Industrial robot practice teaching platform |
| CN107274777B (en) * | 2017-06-19 | 2019-06-18 | 天津大学 | A kind of Robot Virtual teaching system based on V-Rep |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
| EP3835006A4 (en) * | 2018-08-10 | 2022-05-04 | Kawasaki Jukogyo Kabushiki Kaisha | Information processing device, robot operating system, and robot operating method |
| KR102529023B1 (en) * | 2018-08-10 | 2023-05-08 | 카와사키 주코교 카부시키 카이샤 | Training processing device, intermediary device, training system and training processing method |
| CN116442009B (en) * | 2023-06-16 | 2023-09-05 | 江苏汀贝科技有限公司 | Industrial robot practical training platform |
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