CN111660282A - Robot teaching method, device, system and storage medium - Google Patents
Robot teaching method, device, system and storage medium Download PDFInfo
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- CN111660282A CN111660282A CN202010514725.8A CN202010514725A CN111660282A CN 111660282 A CN111660282 A CN 111660282A CN 202010514725 A CN202010514725 A CN 202010514725A CN 111660282 A CN111660282 A CN 111660282A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a robot teaching method, a device, a system and a storage medium, wherein when the current posture of a robot is the same as the previous posture of the current posture, if a posture maintaining instruction is received, the recording of the current posture is saved, the posture recording of the robot is stopped, the maintaining time of the current posture is calculated until the posture maintaining ending condition is met, and the posture of the robot is recorded after the time point of the posture maintaining ending is separated by a first preset time length; if the gesture maintaining instruction is not received, deleting the record of the current gesture, and recording the gesture of the robot after a second preset time interval from the occurrence time point of the current gesture; and when the current posture is different from the previous posture of the current posture, the record of the current posture is stored, and after the third preset time interval from the occurrence time point of the current posture, the posture of the robot is recorded. Through the mode, the robot teaching method and the robot teaching device can record the action when the robot stops in the process, and cannot be deleted as invalid records.
Description
Technical Field
The present application relates to the field of robot teaching technologies, and in particular, to a robot teaching method, apparatus, system, and storage medium.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. With the rapid development of economy, the application of the robot in the industrial field is more and more extensive, and the robot becomes an important driving force for reducing the production cost, improving the production efficiency, improving the industrial manufacturing capability and realizing intelligent manufacturing. Meanwhile, along with the disappearance of the dividend of the population in China, the robot is more and more urgent to replace workers. The important step before the robot works smoothly is the teaching of the robot, at present, the teaching of the robot is to move the robot to an ideal posture, trigger a switch key of a recording point at the tail end of the robot to record the position of the point, and simultaneously, for the convenience of a user, an automatic operation process is added, when the user drags the teaching, only an operation start key is needed, a system can start to automatically and continuously record the position of the point according to a certain time interval, the point is not needed to be recorded by manually and continuously pressing the key, in addition, in order to save memory space (more recording one point into a file, more part of memory is needed to be occupied), when the recorded point is the continuous point collected at the same position when the robot stops, the repeatedly collected point is deleted.
However, the robot teaching method has certain limitations, for example, in the process of dragging and teaching by a user, the user needs to pause for a certain time at a certain position (for example, in the process of spraying, the user needs to stop spraying for a longer time at a certain special position), and then the robot is dragged to move, but the existing dragging and teaching scheme cannot meet the above requirements, so that the user cannot effectively record when the robot pauses.
Disclosure of Invention
The application provides a robot teaching method, a device, a system and a storage medium, which are used for solving the problem that reasonable recording cannot be carried out when a robot stops in the robot teaching process.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a robot teaching method including: recording the current posture of the robot; judging whether the current posture is the same as the previous posture of the current posture or not; if yes, detecting whether a gesture maintaining instruction is received within a preset time before the current gesture occurs or within a preset time after the current gesture occurs; if receiving an attitude maintaining instruction, storing the record of the current attitude, stopping the recording of the attitude of the robot, and calculating the maintaining time of the current attitude until the attitude maintaining ending condition is met; if the attitude maintaining end condition is met, recording the attitude of the robot after a first preset time interval from the time point of the attitude maintaining end; if the gesture maintaining instruction is not received, deleting the record of the current gesture, and recording the gesture of the robot after a second preset time interval from the occurrence time point of the current gesture; and if the current posture is different from the previous posture of the current posture, storing the record of the current posture, and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
As a further improvement of the present application, the attitude maintenance end condition is met, including: and receiving an attitude maintaining ending instruction.
As a further improvement of the present application, the maintaining time of the current posture is equal to the time length from the occurrence time point of the last posture of the current posture to the time point meeting the posture maintaining end condition.
As a further improvement of the present application, the attitude maintenance end condition is met, including: the maintaining time of the current posture is equal to a preset threshold value.
As a further improvement of the present application, the method further comprises: executing the step of generating the motion instruction by using the robot gesture stored in the record.
As a further improvement of the present application, after the step of executing the step of generating the motion command using the robot pose stored in the record, the method further includes: detecting whether the user inputs IO operation; and if so, generating and storing an IO instruction corresponding to the IO operation.
As a further improvement of the present application, after the step of generating and storing an IO instruction corresponding to an IO operation, the method further includes: and constructing a track reproduction program by using the motion instruction and the IO instruction.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a robot teaching device, including: the first recording module is used for recording the current posture of the robot; the judging module is coupled with the first recording module and used for judging whether the current posture is the same as the previous posture of the current posture or not; the detection module is used for detecting whether the current posture is the same as the last posture of the current posture or not, and receiving a posture maintaining instruction within a preset time before the current posture occurs or within a preset time after the current posture occurs; the storage module is used for storing the record of the current posture when receiving the posture maintaining instruction, stopping the posture recording of the robot and calculating the maintaining time of the current posture until the posture maintaining ending condition is met; the second recording module is used for recording the posture of the robot after a first preset time interval from the time point of the posture maintenance completion when the posture maintenance completion condition is met; the deleting module is used for deleting the record of the current posture when the posture maintaining instruction is not received, and recording the posture of the robot after a second preset time interval from the occurrence time point of the current posture; and the third recording module is used for storing the record of the current posture when the current posture is different from the previous posture of the current posture, and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
In order to solve the above technical problem, the present application adopts another technical solution that: a robot teaching system is provided, the robot teaching system comprising a robot and a control module, the control module comprising a processor, a memory coupled to the processor, wherein the robot is adapted to perform a teaching process; the memory stores program instructions for implementing the robot teaching method as any one of the above; the processor is configured to execute the program instructions stored in the memory to identify an active stopping action during the robot teaching.
In order to solve the above technical problem, the present application adopts another technical solution that: there is provided a storage medium storing a program file capable of implementing any of the robot teaching methods described above.
The beneficial effect of this application is: according to the method, the preset time is set, so that in the robot teaching process, when the current posture of the robot is the same as the previous posture of the current posture, a user does not need to continuously send a recording instruction, automatic recording is realized through the preset time, the workload of the user is reduced, and when a posture maintaining instruction is received, the recording of the current posture is saved until the posture maintaining end condition is met, the condition that the necessary posture is maintained to be deleted as an invalid recording is avoided, and the requirement that the posture of the robot is recorded when necessary pause is carried out in the robot teaching process is met.
Drawings
FIG. 1 is a schematic flow chart diagram of a robot teaching method according to a first embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a robot teaching method according to a second embodiment of the present application;
FIG. 3 is a schematic structural diagram of a robot teaching device according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a robot teaching system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a flowchart illustrating a robot teaching method according to a first embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
step S101: the current pose of the robot is recorded.
The current posture of the robot refers to the posture of each joint of the robot, and the robot teaching process is to control each joint of the robot to move to a target posture required by the user and record the target posture.
Step S102: and judging whether the current posture is the same as the previous posture of the current posture. If yes, go to step S103; if not, step S107 is executed.
In step S102, after the current posture of the robot is obtained, the current posture is compared with the previous posture, and whether the current posture is the same as the previous posture is determined, it should be understood that whether the current posture is the same as the previous posture in this embodiment means that the difference between the current posture and the previous posture is within a smaller preset range, and if the difference exceeds the preset range, it is determined that the previous posture is not the same in the current posture, and specifically, the change of the spatial position of each joint of the robot is determined by comparing.
Step S103: and detecting whether a gesture maintaining instruction is received within a preset time before the current gesture occurs or within a preset time after the current gesture occurs. If yes, executing step S104-step S105; if not, go to step S106.
It should be noted that the preset time is preset. In step S103, if the current posture of the robot is the same as the previous posture, detecting whether a posture maintaining instruction is received within a preset time before the current posture occurs or within a preset time after the current posture occurs, if so, indicating that the user needs to maintain the current posture and record, and executing step S104 to step S105; if not, it indicates that the user does not need to maintain the current posture, and if the current posture is an invalid recording point, step S106 is executed.
Step S104: and storing the record of the current posture, stopping the recording of the robot posture, and calculating the maintaining time of the current posture until the posture maintaining ending condition is met.
It should be noted that the maintaining time of the current posture is equal to the time length from the occurrence time point of the last posture of the current posture to the time point meeting the posture maintaining end condition.
In step S104, after receiving the posture maintaining instruction, the recording of the current posture is saved, and the robot posture recording is stopped, and the maintaining time for the robot to maintain the current posture is recorded until the posture maintaining end condition is met.
In some embodiments, the gesture maintaining end condition may be a gesture maintaining end instruction input by the user, and when the gesture maintaining end instruction input by the user is received, that is, the gesture maintaining end condition is met, the robot is not maintaining the current gesture and is ready to enter the next gesture.
In some embodiments, the gesture maintaining end condition may also be whether the maintaining time of the current gesture is equal to a preset threshold, if the maintaining time of the current gesture is equal to the preset threshold, the gesture maintaining end condition is met, and the robot is not maintaining the current gesture and is ready to enter the next gesture. It should be noted that the preset threshold is preset by the user.
Step S105: and if the attitude maintaining end condition is met, recording the attitude of the robot after a first preset time interval at the time point of attitude maintaining end.
It should be noted that the first preset time period is preset.
In step S105, after the posture of the robot is recorded again, the step of determining whether the current posture is the same as the previous posture is repeatedly performed, which is not described herein again.
Step S106: and deleting the record of the current posture, and recording the posture of the robot after a second preset time interval from the occurrence time point of the current posture.
It should be noted that the second preset time period is preset.
In step S106, when receiving the gesture maintaining instruction input by the user, it is described that the current gesture and the previous gesture recorded in the pause of the robot at this time cause repeated recording, and in order to avoid occupying memory resources, the record of the current gesture is deleted at this time, and after a second preset time interval from the occurrence time point of the current gesture, the gesture of the robot is recorded.
Step S107: and storing the record of the current posture, and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
It should be noted that the third preset time period is preset.
In step S107, if the current posture is different from the previous posture, the current posture is an effective recording point, at this time, a record of the current posture is saved, and after a third preset time interval from the occurrence time point of the current posture, the posture of the robot is recorded.
According to the robot teaching method, the preset time is set, so that in the robot teaching process, when the current posture of the robot is the same as the previous posture of the current posture, a user does not need to continuously send a recording instruction, automatic recording is achieved through the preset time, the workload of the user is reduced, in addition, when a posture maintaining instruction is received, the recording of the current posture is saved until the posture maintaining end condition is met, the condition that the necessary posture is maintained and deleted as an invalid recording is avoided, and therefore the requirement that the posture of the robot is recorded when necessary pause is carried out in the teaching process is met.
Fig. 2 is a flowchart illustrating a robot teaching method according to a second embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 2 if the results are substantially the same. As shown in fig. 2, the method comprises the steps of:
step S201: the current pose of the robot is recorded.
In this embodiment, step S201 in fig. 2 is similar to step S101 in fig. 1, and for brevity, is not described herein again.
Step S202: and judging whether the current posture is the same as the previous posture of the current posture. If yes, go to step S203; if not, go to step S207.
In this embodiment, step S202 in fig. 2 is similar to step S102 in fig. 1, and for brevity, is not described herein again.
Step S203: and detecting whether a gesture maintaining instruction is received within a preset time before the current gesture occurs or within a preset time after the current gesture occurs. If yes, executing step S204 to step S205; if not, go to step S206.
In this embodiment, step S203 in fig. 2 is similar to step S103 in fig. 1, and for brevity, is not described herein again.
Step S204: and storing the record of the current posture, stopping the recording of the robot posture, and calculating the maintaining time of the current posture until the posture maintaining ending condition is met.
In this embodiment, step S204 in fig. 2 is similar to step S104 in fig. 1, and for brevity, is not described herein again.
Step S205: and if the attitude maintaining end condition is met, recording the attitude of the robot after a first preset time interval at the time point of attitude maintaining end.
In this embodiment, step S205 in fig. 2 is similar to step S105 in fig. 1, and for brevity, is not described herein again.
Step S206: and deleting the record of the current posture, and recording the posture of the robot after a second preset time interval from the occurrence time point of the current posture.
In this embodiment, step S206 in fig. 2 is similar to step S106 in fig. 1, and for brevity, is not described herein again.
Step S207: and storing the record of the current posture, and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
In this embodiment, step S207 in fig. 2 is similar to step S107 in fig. 1, and for brevity, is not described herein again.
Step S208: executing the step of generating the motion instruction by using the robot gesture stored in the record.
In step S208, after all the posture records of the robot teaching process are obtained, a motion command is generated from the posture records.
Step S209: whether the user inputs the IO operation is detected. If yes, go to step S210.
In step S209, it is to be understood that, during the process of performing the robot drag teaching, the user may also need the robot to execute a related IO operation instruction, for example, when the spraying robot performs the spraying work, after the robot switches to the corresponding posture, the IO operation of spraying paint needs to be performed, therefore, in this embodiment, after the robot switches to the corresponding posture, it is detected whether the user inputs the IO operation, and if the user inputs the IO operation, step S210 is performed.
Step S210: and generating and storing an IO instruction corresponding to the IO operation.
In step S210, an IO command corresponding to the IO operation is generated and stored, and when the IO command is executed again, the robot executes the IO operation.
Step S211: and constructing a track reproduction program by using the motion instruction and the IO instruction.
In steps S208 to S211, after the robot teaching is completed, a trajectory recurrence program of the robot is constructed by using the recorded motion instruction and IO instruction, and when a trajectory recurrence instruction input by a user is received, the robot executes the trajectory recurrence program, thereby recurring a motion trajectory in the robot teaching process and executing a corresponding IO operation.
According to the robot teaching method, on the basis of the first embodiment, a motion instruction is generated according to the recorded posture of the robot, whether IO operation input by a user is received or not is detected, if yes, the corresponding IO instruction is generated according to the IO operation, a track recurrence program is constructed by utilizing the motion instruction and the IO instruction, so that the teaching process of the robot is completed, and when the track recurrence instruction input by the user is received, the robot is controlled to replicate the motion track and the IO operation according to the track recurrence program.
Fig. 3 is a schematic configuration diagram of a robot teaching device according to an embodiment of the present application. As shown in fig. 3, the apparatus 30 includes a first recording module 31, a judging module 32, a detecting module 33, a saving module 34, a second recording module 35, a deleting module 36, and a third recording module 37.
And the first recording module 31 is used for recording the current posture of the robot.
And a determining module 32, coupled to the first recording module 31, for determining whether the current posture is the same as a previous posture of the current posture.
The detecting module 33 is coupled to the determining module 32, and configured to detect whether the gesture maintaining instruction is received within a preset time before the current gesture occurs or within a preset time after the current gesture occurs when the current gesture is the same as the previous gesture of the current gesture.
And the saving module 34 is coupled to the detecting module 33 and configured to, when receiving the gesture maintaining instruction, save the record of the current gesture, stop the recording of the robot gesture, and calculate the maintaining time of the current gesture until the gesture maintaining ending condition is met.
And a second recording module 35, coupled to the saving module 34, configured to record the posture of the robot after a first preset time interval after the posture maintenance is completed when the posture maintenance completion condition is met.
And the deleting module 36 is coupled to the detecting module 33, and configured to delete the record of the current posture when the posture maintaining instruction is not received, and record the posture of the robot after a second preset time interval from the occurrence time point of the current posture.
And a third recording module 37, coupled to the determining module 32, configured to store a record of the current posture when the current posture is different from a previous posture of the current posture, and record the posture of the robot after a third preset time interval from a time point of occurrence of the current posture.
Optionally, the attitude maintenance ending condition is met, including: and receiving an attitude maintaining ending instruction.
Optionally, the maintaining time of the current posture is equal to the time length from the occurrence time point of the last posture of the current posture to the time point meeting the posture maintaining end condition.
Optionally, the attitude maintenance ending condition is met, including: the maintaining time of the current posture is equal to a preset threshold value.
Optionally, after the operation of saving the record of the current posture by the saving module 34, the method further includes: executing the step of generating a motion instruction by using the recorded and stored robot gestures, and detecting whether the user inputs IO operation; if so, generating and storing an IO instruction corresponding to the IO operation; and constructing a track reproduction program by using the motion instruction and the IO instruction.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a robot teaching system according to an embodiment of the present disclosure. As shown in fig. 4, the robot teaching system 40 includes a robot 41 and a control module 42, and the control module 42 includes a processor 421 and a memory 422 coupled to the processor 421.
The robot 41 is used to perform a teaching process.
The memory 422 stores program instructions for implementing the robot teaching method according to any of the embodiments described above.
The processor 421 may also be referred to as a CPU (Central Processing Unit). The processor 421 may be an integrated circuit chip having signal processing capabilities. The processor 421 may also be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 51 capable of implementing all the methods described above, where the program file 51 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A robot teaching method, comprising:
recording the current posture of the robot;
judging whether the current posture is the same as the previous posture of the current posture or not;
if yes, detecting whether a gesture maintaining instruction is received within a preset time before the current gesture occurs or within a preset time after the current gesture occurs;
if the gesture maintaining instruction is received, the record of the current gesture is saved, the gesture record of the robot is stopped, and the maintaining time of the current gesture is calculated until the gesture maintaining ending condition is met;
if the attitude maintaining end condition is met, recording the attitude of the robot after a first preset time interval from the time point of the attitude maintaining end;
if the gesture maintaining instruction is not received, deleting the record of the current gesture, and recording the gesture of the robot after a second preset time interval from the occurrence time point of the current gesture;
and if the current posture is different from the previous posture of the current posture, storing a record of the current posture, and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
2. The robot teaching method according to claim 1,
the consistent attitude maintaining end condition includes: and receiving an attitude maintaining ending instruction.
3. The robot teaching method according to claim 1, wherein the maintenance time of the current posture is equal to a time period from an occurrence time point of a posture immediately preceding the current posture to a time point satisfying a posture maintenance end condition.
4. The robot teaching method according to claim 3, wherein the conforming posture maintenance end condition includes: the maintaining time of the current posture is equal to a preset threshold value.
5. The robot teaching method according to claim 1, further comprising:
executing the step of generating the motion instruction by using the robot gesture stored in the record.
6. The self-robot teaching method according to claim 5, further comprising, after the step of executing the step of generating the motion command using the recorded robot pose:
detecting whether the user inputs IO operation;
and if so, generating and storing an IO instruction corresponding to the IO operation.
7. The robotic method of claim 6, wherein after the step of generating and saving the IO instruction corresponding to the IO operation, further comprising:
and constructing a track reproduction program by using the motion instruction and the IO instruction.
8. A robot teaching device characterized by comprising:
the first recording module is used for recording the current posture of the robot;
the judging module is coupled with the first recording module and used for judging whether the current posture is the same as the previous posture of the current posture or not;
the detection module is coupled with the judgment module and is used for detecting whether an attitude maintaining instruction is received within a preset time before the current attitude occurs or within a preset time after the current attitude occurs when the current attitude is the same as the last attitude of the current attitude;
the storage module is coupled with the detection module and used for storing the record of the current posture, stopping the posture record of the robot and calculating the maintenance time of the current posture until the posture maintenance finishing condition is met when the posture maintenance instruction is received;
the second recording module is coupled with the storage module and used for recording the posture of the robot after a first preset time interval from the time point of the posture maintenance completion when the posture maintenance completion condition is met;
the deleting module is coupled with the detecting module and used for deleting the record of the current posture when the posture maintaining instruction is not received and recording the posture of the robot after a second preset time interval from the occurrence time point of the current posture;
and the third recording module is coupled with the judging module and used for storing the record of the current posture when the current posture is different from the previous posture of the current posture and recording the posture of the robot after a third preset time interval from the occurrence time point of the current posture.
9. A robot teaching system comprising a robot and a control module comprising a processor, a memory coupled to the processor, wherein,
the robot is used for executing a teaching process;
the memory stores program instructions for implementing a robot teaching method according to any of claims 1-7;
the processor is configured to execute the program instructions stored in the memory to identify an active stopping action in a robot teaching process.
10. A storage medium storing a program file capable of implementing the robot teaching method according to any one of claims 1 to 7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029949A (en) * | 2021-11-08 | 2022-02-11 | 北京市商汤科技开发有限公司 | Robot action editing method and device, electronic equipment and storage medium |
| CN114425770A (en) * | 2020-10-29 | 2022-05-03 | 北京配天技术有限公司 | Industrial robot teaching control method, electronic equipment and storage medium |
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