CN107735227A - Robot teaching system, method and robot - Google Patents
Robot teaching system, method and robot Download PDFInfo
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- CN107735227A CN107735227A CN201580080084.7A CN201580080084A CN107735227A CN 107735227 A CN107735227 A CN 107735227A CN 201580080084 A CN201580080084 A CN 201580080084A CN 107735227 A CN107735227 A CN 107735227A
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Abstract
A kind of robot teaching system, method and robot.Robot teaching system (1) includes driver element (10), sets driving parameter and output drive signal；Execution unit (20), is moved under external force, and execution unit (20) also receives drive signal and moved；Collecting unit (30), connection execution unit (20), with the position of acquisition execution unit (20) and attitude data；Control unit (40), connection collecting unit (30), with from collecting unit (30) successively receiving position and attitude data and handle for movement locus；Memory cell (50), connect control unit (40), movement locus is sequentially stored in memory cell (50) by control unit (40), after teaching, control unit (40) obtains movement locus and exported from memory cell (50) gives driver element (10), to cause driver element (10) according to the movement locus output drive signal received to control the motion of execution unit (20), with this realize operating personnel need not be familiar with each coordinate system and with good space imagination can to robot carry out teaching.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to a robot teaching system, a robot teaching method and a robot.
[ background of the invention ]
Most robots in the market at present adopt a demonstrator to demonstrate programming operation robot movement in the application process, the demonstrator of the robot is a handheld unit which is used for programming the robot or enabling the robot to move and is connected with a control system, the robot can be remotely controlled to operate, teaching points are recorded, and programming is carried out according to the teaching points. In order to ensure that the robot can run according to the specified motion according to the actual situation of the user site and ensure the precision requirement of the motion track, the site user uses a teaching machine to operate the robot to reach a point on the motion track, records the point for programming, and repeats the process for teaching.
According to the teaching method, an operator is required to hold a demonstrator by hand and visually operate the robot arm to approach the motion track, so that the operator is required to be taught to be very familiar with each coordinate system such as a workpiece coordinate system and a tool coordinate system and have better space imagination so as to quickly operate the robot to move and rotate along each coordinate system to reach a specified position, and the teaching method has high requirements on the operator.
[ summary of the invention ]
In order to solve the above problem, an embodiment of the present invention provides a robot teaching system, including:
the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;
the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;
the acquisition unit is connected with the execution unit and is used for acquiring the position and posture data of the execution unit;
the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;
and the storage unit is connected with the control unit, the control unit sequentially stores the motion tracks in the storage unit, and after the teaching, the control unit acquires the motion tracks from the storage unit and outputs the motion tracks to the driving unit so that the driving unit outputs driving signals according to the received motion tracks to control the motion of the execution unit.
The drive unit comprises a driver, an encoder and a motor, the encoder is arranged in the motor, the driver comprises a drive part and a control part connected with the drive part, the control part is connected with the encoder, the drive part is connected with the motor, the drive part outputs a drive signal to control the motion of the motor, the encoder obtains the rotation angle and the rotation speed of the motor and outputs the rotation angle and the rotation speed to the control part for correction, and the control part outputs a correction result to the drive part so that the drive part outputs the drive signal to control the motor to correct the motion.
The driving part controls the motor to output a first moment, and the first moment is equal to a moment generated by the gravity of the robot.
The external force is external manpower, the execution unit is a mechanical arm, and the position and posture data are coordinates and angles.
When the motion trail is a straight line, a starting point and an end point of the motion trail are obtained, the mechanical arm is moved to the starting point by external force, the coordinate and the angle are recorded, and then the mechanical arm is moved to the end point and the coordinate and the angle are recorded.
When the motion trail is an arc, a starting point, an end point and an auxiliary point between the starting point and the end point of the motion trail are obtained, the mechanical arm is moved to the starting point by external force and the coordinate and the angle are recorded, then the mechanical arm is moved to the auxiliary point and the coordinate and the angle are recorded, and finally the mechanical arm is moved to the end point and the coordinate and the angle are recorded.
In order to solve the above problem, an embodiment of the present invention provides a robot including a robot teaching system, the robot teaching system including:
the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;
the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;
the acquisition unit is connected with the execution unit to acquire the position and posture data of the execution unit;
the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;
and the control unit is used for acquiring the motion trail from the storage unit and outputting the motion trail to the driving unit after teaching, so that the driving unit outputs a driving signal according to the received motion trail to control the motion of the execution unit.
The drive unit comprises a driver, an encoder and a motor, the encoder is arranged in the motor, the driver comprises a drive part and a control part connected with the drive part, the control part is connected with the encoder, the drive part is connected with the motor, the drive part outputs a drive signal to control the motion of the motor, the encoder obtains the rotation angle and the rotation speed of the motor and outputs the rotation angle and the rotation speed to the control part for correction, and the control part outputs a correction result to the drive part so that the drive part outputs the drive signal to control the motor to correct the motion.
The driving part controls the motor to output a first moment, and the first moment is equal to a moment generated by the gravity of the robot.
The external force is external manpower, the execution unit is a mechanical arm, and the position and posture data are coordinates and angles.
When the motion trail is a straight line, a starting point and an end point of the motion trail are obtained, the mechanical arm is moved to the starting point by external force, the coordinates and the angles are recorded, and then the mechanical arm is moved to the end point in sequence and the coordinates and the angles are recorded.
When the motion track is an arc, a starting point, an end point and an auxiliary point between the starting point and the end point of the motion track are obtained, the mechanical arm is moved to the starting point by external force and the coordinate and the angle are recorded, then the mechanical arm is moved to the auxiliary point and the coordinate and the angle are recorded, and finally the mechanical arm is sequentially moved to the end point and the coordinate and the angle are recorded.
In order to solve the above problem, an embodiment of the present invention provides a robot teaching method, including:
setting a driving parameter through a driving unit, wherein the driving parameter is a speed mode with moment control and sets the movement speed to be zero;
controlling the execution unit to move through an external force;
acquiring the moving position and posture data of the execution unit through an acquisition unit;
sequentially receiving position and attitude data from the acquisition unit through a control unit and processing the position and attitude data into a motion track; and
and after teaching, the control unit acquires the motion trail from the storage unit and outputs the motion trail to the driving unit so that the driving unit outputs a driving signal according to the received motion trail to control the motion of the execution unit.
The drive unit comprises a driver, an encoder and a motor, the encoder is arranged in the motor, the driver comprises a drive part and a control part connected with the drive part, the control part is connected with the encoder, the drive part is connected with the motor, the drive part outputs a drive signal to control the motion of the motor, the encoder obtains the rotation angle and the rotation speed of the motor and outputs the rotation angle and the rotation speed to the control part for correction, and the control part outputs a correction result to the drive part so that the drive part outputs the drive signal to control the motor to correct the motion.
The driving part controls the motor to output a first moment, and the first moment is equal to a moment generated by the gravity of the robot.
The external force is external manpower, the execution unit is a mechanical arm, and the position and posture data are coordinates and angles.
Wherein, the step of controlling the execution unit to move by the external force comprises the following steps:
acquiring a starting point and an end point of a linear motion track;
moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle; and
and moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
Wherein, the step of controlling the execution unit to move by the external force comprises the following steps:
acquiring a starting point and an end point of an arc motion track and an auxiliary point between the starting point and the end point;
moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle;
moving the mechanical arm to an auxiliary point through an external force and recording the coordinate and the angle; and
and finally, moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
Compared with the prior art, the robot teaching system and the robot teaching method provided by the embodiment of the invention set the driving parameters of the motor to be in a speed mode with moment control through the driving unit and set the speed to be zero, directly move the execution unit to a specified position through the external force of an operator, and record the motion track of the execution unit through the acquisition unit, the control unit and the storage unit, so that the operator can teach the robot without being familiar with each coordinate system and having good spatial imagination.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts:
FIG. 1 is a block diagram of a robot teaching system of the present invention;
fig. 2 is a block diagram of the drive unit in fig. 1;
FIG. 3 is a schematic diagram of the construction of the robot of the present invention;
fig. 4 to 6 are flowcharts of a robot teaching method of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A robot teaching system, the robot teaching system comprising:
the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;
the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;
the acquisition unit is connected with the execution unit and is used for acquiring the position and posture data of the execution unit;
the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;
the storage unit is connected with the control unit, the control unit sequentially stores the motion tracks in the storage unit, and after the teaching, the control unit acquires the motion tracks from the storage unit and outputs the motion tracks to the driving unit so that the driving unit outputs driving signals according to the received motion tracks to control the motion of the execution unit; the robot can be taught by setting driving parameters and controlling the movement of the execution unit by external force without the need of knowing each coordinate system and having good space imagination.
A robot comprising a robot teaching system, the robot teaching system comprising:
the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;
the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;
the acquisition unit is connected with the execution unit and is used for acquiring the position and posture data of the execution unit;
the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;
the storage unit is connected with the control unit, the control unit sequentially stores the motion tracks in the storage unit, and after the teaching, the control unit acquires the motion tracks from the storage unit and outputs the motion tracks to the driving unit so that the driving unit outputs driving signals according to the received motion tracks to control the motion of the execution unit; the robot can be taught by setting driving parameters and controlling the movement of the execution unit by external force without the need of knowing each coordinate system and having good space imagination.
A robot teaching method, the robot teaching method comprising:
setting a driving parameter through a driving unit, wherein the driving parameter is a speed mode with moment control and sets the movement speed to be zero;
controlling the execution unit to move through an external force;
acquiring the moving position and posture data of the execution unit through an acquisition unit;
sequentially receiving position and attitude data from the acquisition unit through a control unit and processing the position and attitude data into a motion track; and
the motion trail is sequentially stored in a storage unit through the control unit, and after teaching is carried out, the motion trail is acquired from the storage unit through the control unit and is output to the driving unit, so that the driving unit outputs a driving signal according to the received motion trail to control the motion of the execution unit; the robot can be taught by setting driving parameters and controlling the movement of the execution unit by external force without the need of knowing each coordinate system and having good space imagination.
The present invention will be described in detail with reference to specific examples.
Referring to fig. 1, a block diagram of a robot teaching system according to the present invention is shown. As shown in fig. 1, the robot teaching system 1 includes a driving unit 10 for setting driving parameters and outputting driving signals; the execution unit 20 moves under the action of external force, and the execution unit 20 is also connected with the driving unit 10 to receive a driving signal from the driving unit 10 and move according to the driving signal; the acquisition unit 30 is connected with the execution unit 20 to acquire the position and posture data of the execution unit 20; a control unit 40 connected to the acquisition unit 30 to sequentially receive position and posture data from the acquisition unit 30 and process the position and posture data into a motion trajectory; and the storage unit 50 is connected with the control unit 40, the control unit 40 sequentially stores the motion tracks in the storage unit 50, and after teaching, the control unit 40 acquires the motion tracks from the storage unit 50 and outputs the motion tracks to the driving unit 10, so that the driving unit 10 outputs driving signals according to the received motion tracks to control the motion of the execution unit 20.
Referring to fig. 2, the driving unit 10 includes a driver 11, an encoder 12 and a motor 13, the encoder 12 is disposed in the motor 13, the driver 11 includes a driving portion 111 and a control portion 112 connected to the driving portion 111, the control portion 112 is connected to the encoder 12, the driving portion 111 is connected to the motor 13, the driving portion 111 outputs a driving signal to control the movement of the motor 13, the encoder 12 obtains a rotation angle and a rotation speed of the motor 13 and outputs the rotation angle and the rotation speed to the control portion 112 for correction, and the control portion 112 outputs a correction result to the driving portion 111 so that the driving portion 111 outputs the driving signal to control the motor 13 to perform correction movement.
In this embodiment, the driving parameters are speed modes with torque control and set the movement speed to zero, the number of the motors 13 is set according to the requirements of the robot, each motor 13 is used for driving one shaft and is arranged at one joint of the robot, the external force is external manpower, the execution unit 20 is a mechanical arm, the position and posture data are coordinates and angles, the coordinates are an X shaft, a Y shaft and a Z shaft, and the angles are alpha (α), beta (β) and gamma (gamma).
The driving part 111 controls the motor 13 to output a first moment, and the first moment is equal to the moment generated by the gravity of the robot, because the robot is operated to move, a brake of each shaft of the robot needs to be opened, the gravity moment can not be overcome by the brake moment, so that a certain shaft of the robot is prevented from freely falling under the action of gravity, the machine is damaged or even injured by people, the speed of each shaft is ensured to be near zero all the time under a speed mode, the operator can directly push each shaft of the robot to rotate so as to overcome the moment generated by the gravity of the robot, and the mechanical arm of the robot reaches a specified position on a track in a required posture. When the whole motion of the mechanical arm is a straight line, the motion of the mechanical arm is a straight line motion from Pi (xi, yi, zi) to Pi +1(xi +1, yi +1, zi + 1); in most cases, the motion trajectory is a combination of straight lines and circular arcs. When the point Pi moves to the point Pi +1 and is a straight line, the straight line interpolation is used for realizing the movement; when the point Pi moves to the point Pi +1 where the point Pi +1 is a circular arc, the interpolation is performed by circular interpolation.
To realize the linear motion of the points Pi to Pi +1, the starting point Pi and the ending point Pi +1 of the linear motion trajectory are first obtained, then the position and posture data, such as coordinates and angles, of the robot arm at the starting point Pi are recorded through the acquisition unit 30, the control unit 40 and the storage unit 50, then the robot arm is manually moved to the ending point Pi +1, and the position and posture data of Pi +1 are also recorded and then stored.
Similarly, in the circular arc motion, a starting point Pi, an end point Pi +1 and an auxiliary point between the starting point Pi and the end point Pi +1 of the circular arc motion trajectory are obtained, then the position and posture data, such as coordinates and angles, of the mechanical arm at the starting point Pi are recorded through the acquisition unit 30, the control unit 40 and the storage unit 50, then the position and posture data, such as coordinates and angles, of the mechanical arm at the auxiliary point are recorded by manually moving the mechanical arm to the auxiliary point, finally the mechanical arm is manually moved to the end point Pi +1, and the position and posture data, such as position and posture data, of Pi +1 are recorded and then stored.
Please refer to fig. 3, which is a schematic structural diagram of the robot of the present invention. As shown in fig. 3, the robot 2 includes the robot teaching system 1, and teaching is performed by the robot teaching system 1.
Please refer to fig. 4, which is a flowchart of a robot teaching method according to the present invention. The robot teaching method comprises the following steps:
step S1: setting a driving parameter by the driving unit 10, wherein the driving parameter is a speed mode with moment control and sets the movement speed to be zero;
step S2: the execution unit 20 is controlled to move by an external force;
step S3: acquiring position and posture data of the execution unit 20 through an acquisition unit 30;
step S4: sequentially receiving position and posture data from the collecting unit 30 through the control unit 40 and processing the position and posture data into a motion trajectory; and
step S5: the motion trajectories are sequentially stored in a storage unit 50 through the control unit 40, and after teaching, the motion trajectories are acquired from the storage unit 50 through the control unit 40 and output to the driving unit 10, so that the driving unit 10 outputs driving signals according to the received motion trajectories to control the motion of the execution unit 20.
Referring to fig. 5, step S2 includes:
step S21: acquiring a starting point and an end point of a linear motion track;
step S22: moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle; and
step S23: and sequentially moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
Referring to fig. 6, step S2 includes:
step S21: acquiring a starting point and an end point of an arc motion track and an auxiliary point between the starting point and the end point;
step S22: moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle;
step S23: moving the mechanical arm to an auxiliary point through an external force and recording the coordinate and the angle;
step S24: and finally, moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
The robot teaching system and the robot teaching method set the driving parameters of the motor to be in a speed mode with moment control through the driving unit and set the speed to be zero, directly move the execution unit to reach a designated position through the external force of an operator, and record the motion track of the execution unit through the acquisition unit, the control unit and the storage unit, so that the operator can teach the robot without being familiar with each coordinate system and having good space imagination.
In the above embodiments, only the embodiments of the present invention have been exemplarily described, but those skilled in the art, after reading the present patent application, may make various modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention.
Claims (18)
- A robot teaching system, characterized in that the robot teaching system comprises:the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;the acquisition unit is connected with the execution unit and is used for acquiring the position and posture data of the execution unit;the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;and the storage unit is connected with the control unit, the control unit sequentially stores the motion tracks in the storage unit, and after the teaching, the control unit acquires the motion tracks from the storage unit and outputs the motion tracks to the driving unit so that the driving unit outputs driving signals according to the received motion tracks to control the motion of the execution unit.
- The robot teaching system according to claim 1, wherein the driving unit includes a driver, an encoder, and a motor, the encoder is provided in the motor, the driver includes a driving portion and a control portion connected to the driving portion, the control portion is connected to the encoder, the driving portion is connected to the motor, the driving portion outputs a driving signal to control the movement of the motor, the encoder obtains a rotational angle and a rotational speed of the motor and outputs the rotational angle and the rotational speed to the control portion for correction, and the control portion outputs a correction result to the driving portion so that the driving portion outputs the driving signal to control the motor to perform the correction movement.
- The robot teaching system according to claim 2, wherein the driving section controls the motor to output a first torque, and the first torque is equal to a torque generated by a robot weight.
- The robot teaching system according to claim 1, wherein the external force is an external human force, the execution unit is a robot arm, and the position and orientation data are coordinates and angles.
- The robot teaching system according to claim 4, wherein when the motion trajectory is a straight line, a start point and an end point of the motion trajectory are acquired, the external force moves the robot arm to the start point and records the coordinates and the angle, and then moves the robot arm to the end point and records the coordinates and the angle.
- The robot teaching system according to claim 4, wherein when the motion trajectory is an arc, a start point, an end point, and an auxiliary point located between the start point and the end point of the motion trajectory are acquired, the external force moves the robot arm to the start point and records the coordinates and the angle, moves the robot arm to the auxiliary point and records the coordinates and the angle, and finally moves the robot arm to the end point and records the coordinates and the angle.
- A robot comprising a robot teaching system, characterized in that the robot teaching system comprises:the driving unit is used for setting driving parameters and outputting driving signals, wherein the driving parameters are speed modes with torque control, and the movement speed is set to be zero;the execution unit moves under the action of external force and is also connected with the driving unit so as to receive a driving signal from the driving unit and move according to the driving signal;the acquisition unit is connected with the execution unit to acquire the position and posture data of the execution unit;the control unit is connected with the acquisition unit and is used for sequentially receiving the position and posture data from the acquisition unit and processing the position and posture data into a motion track;and the control unit is used for acquiring the motion trail from the storage unit and outputting the motion trail to the driving unit after teaching, so that the driving unit outputs a driving signal according to the received motion trail to control the motion of the execution unit.
- The robot of claim 7, wherein the driving unit includes a driver, an encoder, and a motor, the encoder is disposed in the motor, the driver includes a driving portion and a control portion connected to the driving portion, the control portion is connected to the encoder, the driving portion is connected to the motor, the driving portion outputs a driving signal to control the movement of the motor, the encoder obtains a rotation angle and a rotation speed of the motor and outputs the rotation angle and the rotation speed to the control portion for calibration, and the control portion outputs a calibration result to the driving portion so that the driving portion outputs a driving signal to control the motor to perform the calibration movement.
- The robot according to claim 8, wherein the driving part controls the motor to output a first torque, and the first torque is equal to a torque generated by a robot weight.
- The robot of claim 7, wherein the external force is an external human force, the execution unit is a robot arm, and the position and orientation data are coordinates and angles.
- The robot of claim 10, wherein when the motion trajectory is a straight line, a start point and an end point of the motion trajectory are obtained, and an external force moves the robot arm to the start point and records the coordinates and the angle, and then sequentially moves the robot arm to the end point and records the coordinates and the angle.
- The robot of claim 10, wherein when the motion trajectory is an arc, a start point, an end point, and an auxiliary point between the start point and the end point of the motion trajectory are obtained, the external force moves the mechanical arm to the start point and records the coordinates and the angles, then moves the mechanical arm to the auxiliary point and records the coordinates and the angles, and finally sequentially moves the mechanical arm to the end point and records the coordinates and the angles.
- A robot teaching method, characterized by comprising:setting a driving parameter through a driving unit, wherein the driving parameter is a speed mode with moment control and sets the movement speed to be zero;controlling the execution unit to move through an external force;acquiring the moving position and posture data of the execution unit through an acquisition unit;sequentially receiving position and attitude data from the acquisition unit through a control unit and processing the position and attitude data into a motion track; andand after teaching, the control unit acquires the motion trail from the storage unit and outputs the motion trail to the driving unit so that the driving unit outputs a driving signal according to the received motion trail to control the motion of the execution unit.
- The robot teaching method according to claim 13, wherein the driving unit includes a driver, an encoder, and a motor, the encoder is provided in the motor, the driver includes a driving unit and a control unit connected to the driving unit, the control unit is connected to the encoder, the driving unit is connected to the motor, the driving unit outputs a driving signal to control the movement of the motor, the encoder obtains a rotational angle and a rotational speed of the motor and outputs the rotational angle and the rotational speed to the control unit for correction, and the control unit outputs a correction result to the driving unit so that the driving unit outputs the driving signal to control the motor to perform the correction movement.
- The robot teaching method according to claim 14, wherein the driving section controls the motor to output a first torque, and the first torque is equal to a torque generated by a robot weight.
- The robot teaching method according to claim 13, wherein the external force is an external human force, the execution unit is a robot arm, and the position and orientation data are coordinates and angles.
- The robot teaching method according to claim 16, wherein the step of controlling the movement of the execution unit by the external force includes:acquiring a starting point and an end point of a linear motion track;moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle; andand moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
- The robot teaching method according to claim 16, wherein the step of controlling the movement of the execution unit by the external force includes:acquiring a starting point and an end point of an arc motion track and an auxiliary point between the starting point and the end point;moving the mechanical arm to a starting point through an external force and recording the coordinate and the angle;moving the mechanical arm to an auxiliary point through an external force and recording the coordinate and the angle; andand finally, moving the mechanical arm to the end point through an external force and recording the coordinate and the angle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/099748 WO2017113144A1 (en) | 2015-12-30 | 2015-12-30 | Robot teaching system and method, and robot |
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| CN107735227A true CN107735227A (en) | 2018-02-23 |
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| CN201580080084.7A Pending CN107735227A (en) | 2015-12-30 | 2015-12-30 | Robot teaching system, method and robot |
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| WO (1) | WO2017113144A1 (en) |
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| CN114693808A (en) * | 2022-05-31 | 2022-07-01 | 中国空气动力研究与发展中心低速空气动力研究所 | Attitude measurement method, device and medium for parachute in wind tunnel test |
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| CN109773756A (en) * | 2019-02-20 | 2019-05-21 | 苏州科技大学 | A kind of Multi-freedom-degreemanipulator manipulator and control method |
| CN113125463B (en) * | 2021-04-25 | 2023-03-10 | 济南大学 | Teaching method and device for detecting weld defects of automobile hub |
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- 2015-12-30 WO PCT/CN2015/099748 patent/WO2017113144A1/en active Application Filing
- 2015-12-30 CN CN201580080084.7A patent/CN107735227A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019222968A1 (en) * | 2018-05-24 | 2019-11-28 | 深圳配天智能技术研究院有限公司 | Intelligent loading and unloading system and working method therefor |
| CN114693808A (en) * | 2022-05-31 | 2022-07-01 | 中国空气动力研究与发展中心低速空气动力研究所 | Attitude measurement method, device and medium for parachute in wind tunnel test |
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|---|---|
| WO2017113144A1 (en) | 2017-07-06 |
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