CN107520847A - One kind cooperation robot trajectory's teaching method - Google Patents

One kind cooperation robot trajectory's teaching method Download PDF

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Publication number
CN107520847A
CN107520847A CN201710713689.6A CN201710713689A CN107520847A CN 107520847 A CN107520847 A CN 107520847A CN 201710713689 A CN201710713689 A CN 201710713689A CN 107520847 A CN107520847 A CN 107520847A
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CN
China
Prior art keywords
teaching
track
controller
data
arm
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CN201710713689.6A
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Chinese (zh)
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CN107520847B (en
Inventor
彭秋明
华磊
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深圳市同川科技有限公司
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

The invention discloses one kind cooperation robot trajectory's teaching method, including:Step S1, track teaching is carried out to cooperation robot;Step S2, controller record the tracing point position data for performing arm in real time;Step S3, judge whether savepoint position data, if then performing step S4, if otherwise performing step S5;The tracing point position data of current cache are write file by step S4, controller;Step S5, selection, which performs, to be continued teaching or removes track, if selection continues teaching, to controller addition teaching request, is performed step S1~step S4 afterwards, if track is removed in selection, is performed step S6;Step S6, the teaching track of preset length caused by selection, by the point position data dump of the length teaching track, controller, which drives, performs the starting point that arm is back to the length teaching track.The present invention can accurately and efficiently carry out track record, and reset function with removing so that disclosure satisfy that user's request during cooperation robot reproducing movement.

Description

One kind cooperation robot trajectory's teaching method
Technical field
The present invention relates to cooperation robot control method, more particularly to a kind of cooperation robot trajectory's teaching method.
Background technology
Cooperation robot is used for the intelligent type automatic equipment for performing corresponding actions, and in the prior art, cooperation robot removes Outside safety problem, another feature is can manually to drag robot to complete teaching programing work, manually drag Robot carries out data record to taught point, carrys out taught point position data without relying on teaching machine remote control, and then improve teaching effect Rate, still, in the cooperation robot trajectory's teaching of current manual drawing type, record and reproducing technology also imperfection, it is difficult to realize The functions such as effective track record, removing and reproduction, thus the application demand of user can not be met.
The content of the invention
The technical problem to be solved in the present invention is, in view of the shortcomings of the prior art, there is provided one kind cooperation robot trajectory Teaching method, track record can be accurately and efficiently carried out using this method, while there is removing to reset function so that cooperation machine User's request is disclosure satisfy that during device people's reproducing movement.
In order to solve the above technical problems, the present invention adopts the following technical scheme that.
One kind cooperation robot trajectory's teaching method, the cooperation robot, which is configured with, performs arm and controller, described Method comprises the following steps:Step S1, in a manual manner dragging perform arm, and track teaching is carried out to cooperation robot;Step S2, during dragging teaching track, the controller records in real time performs caused tracing point position in arm moving process Data message;Step S3, after the completion of the teaching of track, judge whether to preserve the tracing point position data of current cache, if so, then performing Step S4, if it is not, then performing step S5;Step S4, keys in the controller and preserves instruction, and the controller is by current cache Tracing point position data write-in file, input data during as cooperation robot Path Regeneration;Step S5, user pass through control Device selection, which performs, to be continued teaching or removes track, if selection continues teaching, to controller addition teaching request, performs step afterwards Rapid S1~step S4, if track is removed in selection, perform step S6;Step S6, select pre- caused by step S1~step S5 If the teaching track of length, clearance order is keyed in the controller, it is described by the point position data dump of the length teaching track Controller, which drives, performs the starting point that arm is back to the length teaching track.
Preferably, also include setting track fitting precision step before performing the step S1:User is to the controller The time interval for obtaining point position data is set.
Preferably, in the step S2, track fitting precision that the controller is set according to user and record hold in real time Caused tracing point position data in row arm moving process.
Preferably, the point position data include coordinate system parameters and cartesian coordinate numerical value.
Preferably, in the step S6, removing point position data procedures includes:Removing is persistently keyed in the controller to refer to Order, the controller, which drives, performs arm by teaching track reverse movement, wherein:Moved backward when performing arm to teaching track Starting point, then perform arm stop movement, when user's stop key enters clearance order, the controller is clear by whole piece teaching track Remove;When execution arm is moved backward to predeterminated position and user's stopping key entry clearance order, the controller will perform hand Corresponding teaching track is removed during arm reverse movement.
Cooperation robot trajectory's teaching method disclosed by the invention, caused point position data in cooperation robot implementation procedure Caching in real time, when user needs to change motion track, teaching can be carried out to cooperation robot by way of removing and reseting, So that the present invention can record the track of dragging teaching in real time, track reproducing is realized after keeping data, meanwhile, work as what is recorded Preceding track, its random length can be removed at any time.As can be seen here, the present invention can accurately and efficiently carry out track record, simultaneously Function is reseted with removing so that disclosure satisfy that user's request during cooperation robot reproducing movement.
Brief description of the drawings
Fig. 1 is the flow chart of present invention cooperation robot trajectory's teaching method.
Embodiment
The present invention is described in more detail with reference to the accompanying drawings and examples.
The invention discloses one kind cooperation robot trajectory's teaching method, refer to Fig. 1, and the cooperation robot is configured with Perform arm and controller, methods described comprise the following steps:
Step S1, in a manual manner dragging perform arm, and track teaching is carried out to cooperation robot;
Step S2, during dragging teaching track, the controller is recorded to perform in real time and produced in arm moving process Raw tracing point position data message;
Step S3, after the completion of the teaching of track, judge whether to preserve the tracing point position data of current cache, if so, then performing Step S4, if it is not, then performing step S5;
Step S4, keys in the controller and preserves instruction, and the controller writes the tracing point position data of current cache Enter file, as cooperation robot Path Regeneration when input data;
Step S5, user selects to perform by controller to continue teaching or removes track, if selection continues teaching, to control Device addition teaching request processed, performs step S1~step S4, if track is removed in selection, performs step S6 afterwards;
Step S6, the teaching track of step S1~preset length caused by step S5 is selected, keyed in the controller Clearance order, by the point position data dump of the length teaching track, the controller, which drives, to be performed arm and is back to the length and shows Teach the starting point of track.
Above-mentioned cooperation robot trajectory teaching method, in cooperation robot implementation procedure caused digit factually when delay Deposit, when user needs to change motion track, teaching can be carried out to cooperation robot by way of removing and reseting so that this Invention can record the track of dragging teaching in real time, and track reproducing is realized after keeping data, meanwhile, work as front rail for what is recorded Mark, its random length can be removed at any time.As can be seen here, the present invention can accurately and efficiently carry out track record, have simultaneously Function is reseted in removing so that disclosure satisfy that user's request during cooperation robot reproducing movement.
As a kind of preferred embodiment of the present invention, also include setting track fitting precision step before performing the step S1 Suddenly:User sets the time interval for obtaining point position data to the controller.In setting up procedure, mainly track take a little Actual geometric locus is fitted, point position data are obtained by the certain intervals time, and the setting of interval time influences to intend Close out the effect and precision of track, in general, interval it is smaller, take it is a little more, thus be fitted track it is more accurate, its point position data Amount is very big, and processing is time-consuming longer.
As a kind of preferred embodiment, in the step S2, the controller according to the track fitting precision that user is set and Record performs caused tracing point position data in arm moving process in real time.Wherein, the point position data are joined including coordinate system Number and cartesian coordinate numerical value.
On data dump mode, in the step S6, removing point position data procedures includes:Continue key to the controller Entering clearance order, the controller, which drives, performs arm by teaching track reverse movement, wherein:
Moved backward when performing arm to the starting point of teaching track, then perform arm and stop movement, treat that user's stop key enters During clearance order, the controller removes whole piece teaching track;
When execution arm is moved backward to predeterminated position and user's stopping key entry clearance order, the controller will be held Corresponding teaching track is removed during row arm reverse movement.
Cooperation robot trajectory's teaching method disclosed by the invention, its specific operation process refer to following examples:
Embodiment 1
Step S10, track fitting precision is set:Drag robot and carry out track teaching, this method is mainly entered to track Row, which takes, a little fits actual geometric locus, and point position data are obtained by the certain intervals time, the setting of interval time Influence to fit the effect and precision of track, in general, interval is smaller, takes a little more, therefore fitting track is more accurate, but point Position data volume can be very big, and processing is time-consuming longer;
Step S11, drags robot manually, makes machine according to the track of user oneself needs from beginning to move into stop bits Put, setting in motion when hand contact robot is dragged, after completing track teaching, hand unclamps robot then stop motion;
Step S12, during dragging teaching track, real-time measuring point position data message, according to the time interval of setting Precision parameter timing takes a little, wherein the point position information accessed includes coordinate system parameters, cartesian coordinate numerical value etc., track teaching is complete Cheng Hou, it may be selected to perform step S13, step S14, step S15, step S16 or step S17;
Step S13, the tracing point position data of current cache are write by file by " preservation " button, during as Path Regeneration Input data, the geometric locus of user's teaching is fitted with this;
Step S14, if not preserving current track, it is desirable to continue teaching, addition track fortune on the basis of current track It is dynamic, then continue step S10 to step S13;
Step S15, if not preserving current track, track or the partial traces of teaching just now are not intended to, that is, remove this Track record removes partial traces, then is realized by " removing " button;
Step S16, press " removing " button and do not unclamp, robot retracts (reversely from current location according to the track of teaching Motion), and the buffer position data of rollback track are removed, until returning back to the starting point of this teaching track, then stop motion;
Step S17, press " removing " button and unclamp afterwards for a period of time, robot receding portion track, by remaining teaching Track carries out preservation judgement, and the track that random length can be achieved is removed.
Simply preferred embodiments of the present invention described above, are not intended to limit the invention, all technology models in the present invention Interior done modification, equivalent substitution or improvement etc. are enclosed, should be included in the range of of the invention protect.

Claims (5)

1. one kind cooperation robot trajectory's teaching method, it is characterised in that the cooperation robot, which is configured with, performs arm and control Device processed, methods described comprise the following steps:
Step S1, in a manual manner dragging perform arm, and track teaching is carried out to cooperation robot;
Step S2, during dragging teaching track, the controller records in real time to be performed caused by arm moving process Tracing point position data message;
Step S3, after the completion of the teaching of track, judge whether to preserve the tracing point position data of current cache, if so, then performing step S4, if it is not, then performing step S5;
Step S4, keyed in the controller and preserve instruction, the controller is literary by the tracing point position data write-in of current cache Part, as cooperation robot Path Regeneration when input data;
Step S5, user selects to perform by controller to continue teaching or removes track, if selection continues teaching, to controller Teaching request is added, performs step S1~step S4 afterwards, if track is removed in selection, performs step S6;
Step S6, the teaching track of step S1~preset length caused by step S5 is selected, key in and remove to the controller Instruction, by the point position data dump of the length teaching track, the controller drives execution arm to be back to the length teaching rail The starting point of mark.
2. cooperation robot trajectory's teaching method as claimed in claim 1, it is characterised in that gone back before performing the step S1 Including setting track fitting precision step:User sets the time interval for obtaining point position data to the controller.
3. cooperation robot trajectory's teaching method as claimed in claim 2, it is characterised in that in the step S2, the control Track fitting precision that device processed is set according to user and record perform caused tracing point digit in arm moving process in real time According to.
4. cooperation robot trajectory's teaching method as claimed in claim 1, it is characterised in that the point position data include coordinate It is parameter and cartesian coordinate numerical value.
5. cooperation robot trajectory's teaching method as claimed in claim 1, it is characterised in that in the step S6, remove point Position data procedures include:Clearance order is persistently keyed in the controller, the controller, which drives, performs arm by teaching track Reverse movement, wherein:
Moved backward when performing arm to the starting point of teaching track, then perform arm and stop movement, treat that user's stop key enters to remove During instruction, the controller removes whole piece teaching track;
When execution arm is moved backward to predeterminated position and user's stopping key entry clearance order, the controller will perform hand Corresponding teaching track is removed during arm reverse movement.
CN201710713689.6A 2017-08-18 2017-08-18 Collaborative robot trajectory teaching method Active CN107520847B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108381529A (en) * 2018-05-28 2018-08-10 上海优尼斯工业服务有限公司 A kind of man-machine collaboration teaching method of industrial machinery arm
CN110141498A (en) * 2019-06-04 2019-08-20 辰耀智能装备(厦门)有限公司 A kind of moxa-moxibustion smart collaboration robot and its operating method
CN110531679A (en) * 2019-09-17 2019-12-03 因而克智能科技(浙江)有限公司 A kind of operation control system and method for intelligence cleaning device

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EP1465028A2 (en) * 2003-03-31 2004-10-06 Fanuc Ltd Robot offline programming system with error-correction feedback function
CN104835406A (en) * 2015-06-05 2015-08-12 安徽埃夫特智能装备有限公司 Industrial robot teaching system
CN106313007A (en) * 2016-10-10 2017-01-11 电子科技大学 Parallel drilling machine teaching/playback system
CN106355991A (en) * 2016-10-31 2017-01-25 成都乐创自动化技术股份有限公司 Teaching method and device
CN106737691A (en) * 2017-02-07 2017-05-31 珠海金萝卜智动科技有限公司 The method and apparatus of manual teaching robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1465028A2 (en) * 2003-03-31 2004-10-06 Fanuc Ltd Robot offline programming system with error-correction feedback function
CN104835406A (en) * 2015-06-05 2015-08-12 安徽埃夫特智能装备有限公司 Industrial robot teaching system
CN106313007A (en) * 2016-10-10 2017-01-11 电子科技大学 Parallel drilling machine teaching/playback system
CN106355991A (en) * 2016-10-31 2017-01-25 成都乐创自动化技术股份有限公司 Teaching method and device
CN106737691A (en) * 2017-02-07 2017-05-31 珠海金萝卜智动科技有限公司 The method and apparatus of manual teaching robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108381529A (en) * 2018-05-28 2018-08-10 上海优尼斯工业服务有限公司 A kind of man-machine collaboration teaching method of industrial machinery arm
CN110141498A (en) * 2019-06-04 2019-08-20 辰耀智能装备(厦门)有限公司 A kind of moxa-moxibustion smart collaboration robot and its operating method
CN110531679A (en) * 2019-09-17 2019-12-03 因而克智能科技(浙江)有限公司 A kind of operation control system and method for intelligence cleaning device

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