CN111730601B - Wearable demonstrator demonstration control method and device and electronic equipment - Google Patents
Wearable demonstrator demonstration control method and device and electronic equipment Download PDFInfo
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- CN111730601B CN111730601B CN202010698925.3A CN202010698925A CN111730601B CN 111730601 B CN111730601 B CN 111730601B CN 202010698925 A CN202010698925 A CN 202010698925A CN 111730601 B CN111730601 B CN 111730601B
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention provides a wearable demonstrator demonstration control method, a wearable demonstrator demonstration control device and electronic equipment, wherein the method comprises the steps of obtaining rotation angle information of each joint of a wearable demonstrator; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is used for enabling the robot to pause to move; the robot can be effectively prevented from being damaged due to overlarge actions of the operator.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wearable demonstrator teaching control method and device and electronic equipment.
Background
Teaching a robot by a teaching machine is a relatively common teaching method. The general teaching device teaches in a key control mode or a rocker control mode, and the teaching mode is often difficult to obtain satisfactory effects for complex paths.
Therefore, some wearable teaching devices are worn on the arm of an operator during use, and the corresponding joints of the robot are controlled to perform corresponding motions by capturing the motions of the arm and each joint of the hand of the operator, so that teaching of a complex path can be realized. An interactive control articulated arm, such as that disclosed in patent publication No. CN209936912U, is a wearable teach pendant of this type.
However, since the robot is limited in the rotatable range of each joint of the robot, there are some movements that the arm of the operator can perform but the robot cannot perform, and if the operator performs teaching using the wearable teaching device, an excessive movement that the robot cannot perform is performed, which may easily damage the robot.
Therefore, how to effectively avoid the damage of the robot caused by the excessive movement of the operator is a problem to be solved.
Disclosure of Invention
In view of the defects of the prior art, an object of the embodiments of the present application is to provide a wearable teach pendant teaching control method, apparatus and electronic device, which can effectively avoid the robot from being damaged due to an excessive movement of an operator.
In a first aspect, an embodiment of the present application provides a wearable demonstrator teaching control method, which is applied to a wearable demonstrator, and includes the steps of:
acquiring rotation angle information of each joint of the wearable demonstrator;
judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint;
if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot;
the pause instruction is for causing the robot to pause the movement.
In the wearable teaching device teaching control method, after the step of sending a pause instruction to the robot if the rotation angle of at least one joint exceeds the corresponding allowable rotation angle range, the method further includes:
and if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a first reminding signal.
In the teaching control method of the wearable teaching device, after the step of obtaining the rotation angle information of each joint of the wearable teaching device, the teaching control method of the wearable teaching device further comprises:
judging whether the rotation angle of each joint exceeds a corresponding first rotation angle range or not according to the rotation angle information of each joint;
and if the rotating angle of at least one joint exceeds the corresponding first rotating angle range, sending a second reminding signal.
The teaching control method of the wearable teaching machine further comprises the following steps:
calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
if the end of the arm lever of at least one robot exceeds the allowed moving range, a pause instruction is sent to the robot.
In the wearable teaching machine teaching control method, after the step of sending a pause command to the robot if the end of the arm of at least one robot exceeds the allowable movement range, the method further includes:
and if the end part of the arm lever of at least one robot exceeds the allowed moving range, sending out a third reminding signal.
In the teaching control method of the wearable teaching machine, after the step of calculating the position data of the end of each arm of the robot based on the rotation angle information of each joint, the teaching control method of the wearable teaching machine further includes:
judging whether the end part of each arm lever of the robot exceeds a first moving range according to the position data of the end part of each arm lever of the robot;
and if the end part of the arm lever of at least one robot exceeds the first moving range, sending a fourth reminding signal.
In a second aspect, an embodiment of the present application provides a wearable teach pendant teaching control device, including:
the first acquisition module is used for acquiring the rotation angle information of each joint of the wearable demonstrator;
the first judgment module is used for judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range according to the rotation angle information of each joint;
the first execution module is used for sending a pause instruction to the robot when the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range;
the pause instruction is for causing the robot to pause the movement.
Wearable demonstrator teaching controlling means, still include:
and the second execution module is used for sending out a first reminding signal when the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range.
Wearable demonstrator teaching controlling means, still include:
the first calculation module is used for calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
the third judging module is used for judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
and the fourth execution module is used for sending a pause instruction to the robot when the end part of the arm lever of at least one robot exceeds the allowed movement range.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the wearable teach pendant teaching control method by calling the computer program stored in the memory.
Has the advantages that:
according to the teaching control method and device for the wearable demonstrator and the electronic equipment, the rotation angle information of each joint of the wearable demonstrator is acquired; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is used for enabling the robot to pause to move; the robot can be effectively prevented from being damaged due to overlarge actions of the operator.
Drawings
Fig. 1 is a flowchart of a wearable teach pendant teaching control method provided in an embodiment of the present application.
Fig. 2 is a block diagram of a wearable teach pendant teaching control device according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device 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. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a teaching control method for a wearable demonstrator provided in an embodiment of the present application is applied to a wearable demonstrator, and includes the steps of:
A1. acquiring rotation angle information of each joint of the wearable demonstrator;
A2. judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint;
A3. if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot;
wherein the pause instruction is for causing the robot to pause the movement.
Whether the robot can make a certain action depends on whether each pass of the robot can reproduce the rotation angle of the corresponding joint of the wearable demonstrator, if the rotation angle of at least one joint in the wearable demonstrator exceeds the rotation angle limit of the corresponding joint of the robot, the robot can not finish the corresponding action, the robot should be made to move temporarily, the robot is prevented from continuing to move along with the wearable demonstrator, and therefore the robot is prevented from being damaged due to overlarge action.
Allowable rotation angle ranges corresponding to the joints of the wearable demonstrator can be set according to the rotatable ranges of the joints of the robot, a comparison table is generated, and in the step A2, the comparison table is inquired according to the rotation angle information of the joints of the wearable demonstrator, so that whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range is judged.
In order to let the operator know that the robot is suspended due to excessive movement of the operator, in some embodiments, a3. if the rotation angle of at least one joint exceeds the corresponding allowable rotation angle range, the step of sending the pause instruction to the robot is followed by the steps of:
A4. and if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a first reminding signal.
The first reminder signal may be at least one of a vibration signal, a sound signal, a light signal. For example, the first warning signal is a sound signal that announces which joints are rotated out of range by voice, but is not limited thereto.
In some preferred embodiments, a1, after the step of acquiring the rotation angle information of each joint of the wearable teach pendant, the method further includes:
A5. judging whether the rotation angle of each joint exceeds a corresponding first rotation angle range or not according to the rotation angle information of each joint;
A6. and if the rotating angle of at least one joint exceeds the corresponding first rotating angle range, sending a second reminding signal.
Wherein the first rotation angle range is a relatively small rotation angle range defined within the corresponding allowable rotation angle range, and two boundary values of the first rotation angle range are different from two boundary values of the corresponding allowable rotation angle range by an angle margin value, for example, if the allowable rotation angle range is (V, W), the first rotation angle range may be (V + a, W-a), where a is the angle margin value; that is, when the rotation angle of at least one joint approaches the boundary value of the corresponding allowable rotation angle range, a second reminding signal is sent to remind the operator, and the operator knows that the action of the operator is approaching too large action when receiving the second reminding signal, so that the adjustment can be performed in time.
Wherein, the second reminding signal can be at least one of a vibration signal, a sound signal and a light signal. For example, the second warning signal is a vibration signal, and vibration is generated at a joint beyond the corresponding first rotation angle range, so that the operator can know which joint rotation angle exceeds the corresponding first rotation angle range, and preferably, the strength of the vibration may be changed with the change of the rotation angle of the joint (for example, the closer the rotation angle is to the boundary value of the corresponding allowable rotation angle range, the higher the vibration strength is), so that the operator can judge the distance between the rotation angle of the joint and the boundary value of the corresponding allowable rotation angle range according to the change of the vibration strength.
When the robot is used in an actual production site, the robot may be required to work within an allowable movement range due to the site layout of the production site, or may collide with other production equipment and be damaged. Therefore, in some embodiments, the wearable teach pendant teaching control method further comprises:
A7. calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
A8. judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
A9. if the end of the arm lever of at least one robot exceeds the allowed moving range, a pause instruction is sent to the robot.
Any part of the robot exceeding the allowed moving range can collide with other production equipment to be damaged, when the robot exceeds the allowed moving range, the part exceeding the range is the end part of the arm rod, so that the position data of the end part of each arm rod of the robot needs to be calculated, if at least one arm rod end part exceeds the allowed moving range, the robot is required to be stopped to move in time, the robot is prevented from continuing to move along with the wearable teaching machine, and the robot is prevented from being damaged due to the fact that the moving range exceeds the allowed moving range.
In order to let the operator know that the robot is suspended due to the movement exceeding the range, A9. in some embodiments, the step of sending the pause instruction to the robot is followed by the steps of:
A10. and if the end part of the arm lever of at least one robot exceeds the allowed moving range, sending out a third reminding signal.
The third reminding signal can be at least one of a vibration signal, a sound signal and a light signal. For example, the third warning signal is a light signal, and when the end of the arm lever of the robot exceeds the allowable moving range, the warning light at the end of the connecting rod corresponding to the wearable demonstrator is turned on, but not limited thereto.
In some preferred embodiments, A7. further includes, after the step of calculating the position data of the end of each arm of the robot according to the rotation angle information of each joint:
A11. judging whether the end part of each arm lever of the robot exceeds a first moving range according to the position data of the end part of each arm lever of the robot;
A12. and if the end part of the arm lever of at least one robot exceeds the first moving range, sending a fourth reminding signal.
The first moving range is a relatively small moving range defined in the allowed moving range, and a transition zone is arranged between the boundary of the first moving range and the boundary of the allowed moving range, and the width of the transition zone is a preset width, for example, the allowed moving range is a circular area with the center of the robot base as an origin and the radius of R, the first moving range is a circular area with the center of the robot base as an origin and the radius of R-b, and b is a preset width; that is, when the end of the arm lever of at least one robot enters the transition zone, the fourth reminding signal is sent out to remind the operator, and the operator can know that the robot is close to the boundary of the allowable moving range when receiving the fourth reminding signal, so that the adjustment can be performed in time.
Wherein, the fourth reminding signal can be at least one of a vibration signal, a sound signal and a light signal. For example, the fourth warning signal includes a sound signal and an optical signal, and when the end of the arm of the robot exceeds the first movement range, the warning light at the end of the link corresponding to the wearable teach pendant blinks, and the horn on the wearable teach pendant sounds a sound of "tic", preferably, the frequency of the sound changes as the movement range of the end of the arm of the robot changes (for example, the frequency increases as the end of the arm of the robot approaches the boundary of the allowable movement range), so that the operator can determine the distance between the end of the arm of the robot and the boundary of the allowable movement range by the change of the sound frequency.
The rotation angular velocity of each joint of some robots is limited, and if the rotation angular velocity of the joint of the robot exceeds the corresponding maximum allowable angular velocity during work, the abrasion speed of the joint is greatly increased, so that the robot needs to be maintained frequently. To this end, in some embodiments, the wearable teach pendant teaching control method further comprises:
A13. acquiring rotation angular speed information of each joint of the wearable demonstrator;
A14. judging whether the rotation angular velocity of each joint is greater than the corresponding maximum allowable angular velocity or not according to the rotation angular velocity information of each joint;
A15. and if the rotating angular speed of at least one joint is greater than the corresponding maximum allowable angular speed, sending a pause instruction to the robot.
Because the rotation angular velocity of the joint of the wearable demonstrator is greater than the corresponding maximum allowable angular velocity, the rotation angular velocity of the joint corresponding to the robot is too large, so that the joint abrasion speed corresponding to the robot is greatly improved, and therefore, if the rotation angular velocity of at least one joint of the wearable demonstrator is greater than the corresponding maximum allowable angular velocity, the robot should be timely paused, and the robot is prevented from continuously moving along with the wearable demonstrator.
The maximum allowable angular velocity corresponding to each joint of the wearable teach pendant may be set according to the maximum allowable angular velocity of each joint of the robot, a comparison table may be generated, and in step a14, the comparison table may be queried according to the rotational angular velocity information of each joint of the wearable teach pendant, so as to determine whether the rotational angular velocity of each joint exceeds the corresponding maximum allowable angular velocity.
In order to let the operator know that the robot is suspended due to an excessive joint rotation angular velocity, in some embodiments, a14. after the step of determining whether the rotation angular velocity of each joint is greater than the corresponding maximum allowable angular velocity according to the rotation angular velocity information of each joint, the method further includes:
A16. and if the rotating angular speed of at least one joint is greater than the corresponding maximum allowable angular speed, sending a fifth reminding signal.
The fifth reminding signal can be at least one of a vibration signal, a sound signal and a light signal. For example, the fifth warning signal is a sound signal that announces which joints have excessive rotational angular velocity through voice, but is not limited thereto.
In some preferred embodiments, after the step of acquiring the rotational angular velocity information of each joint of the wearable teach pendant, the method further includes:
A17. judging whether the rotation angular velocity of each joint is greater than a corresponding angular velocity threshold value or not according to the rotation angular velocity information of each joint;
A18. and if the rotating angular speed of at least one joint is greater than the corresponding angular speed threshold value, sending a sixth reminding signal.
The angular velocity threshold is an angular velocity value smaller than the corresponding maximum allowable angular velocity, and the angular velocity threshold and the corresponding maximum allowable angular velocity are different by a preset angular velocity difference value, for example, if the maximum allowable angular velocity is M, the angular velocity threshold is M-c, where c is the preset angular velocity difference value; namely, when the rotating angular speed of at least one joint is close to the corresponding maximum allowable angular speed, a sixth reminding signal is sent out to remind an operator, and the operator can know that the rotating angular speed of the joint of the wearable demonstrator is close to the corresponding maximum allowable angular speed when receiving the sixth reminding signal, so that the operator can adjust the joint in time.
The sixth reminding signal can be at least one of a vibration signal, a sound signal and a light signal. For example, the sixth alert signal includes a vibration signal and an audio signal, and when the rotational angular velocity of the joint of the wearable teach pendant is greater than the corresponding angular velocity threshold, the joint corresponding to the wearable teach pendant vibrates intermittently, and the horn on the wearable teach pendant sounds a sound of "tic", and preferably, the frequency of the sound changes as the rotational angular velocity of the joint of the wearable teach pendant changes (e.g., the closer the rotational angular velocity of the joint of the wearable teach pendant is to the corresponding maximum allowable angular velocity, the higher the frequency), so that the operator can determine the distance between the rotational angular velocity of the joint of the wearable teach pendant and the maximum allowable angular velocity by the change in the audio frequency.
According to the teaching control method of the wearable demonstrator, the rotation angle information of each joint of the wearable demonstrator is obtained; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is used for enabling the robot to pause to move; the robot can be effectively prevented from being damaged due to overlarge actions of the operator.
Referring to fig. 2, an embodiment of the present application further provides a teaching control device for a wearable demonstrator, which includes a first obtaining module 1, a first determining module 2, and a first executing module 3;
the first acquisition module 1 is used for acquiring the rotation angle information of each joint of the wearable demonstrator;
the first judging module 2 is used for judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range according to the rotation angle information of each joint;
the first execution module 3 is used for sending a pause instruction to the robot when the rotation angle of at least one joint exceeds the corresponding allowable rotation angle range;
wherein the pause instruction is for causing the robot to pause the movement.
In some embodiments, the wearable teach pendant teaching control device further comprises a second execution module, and the second execution module is used for sending out a first reminding signal when the rotation angle of at least one joint exceeds the corresponding allowable rotation angle range.
In some embodiments, the wearable demonstrator teaching control device further comprises a second judging module and a third executing module;
the second judging module is used for judging whether the rotation angle of each joint exceeds the corresponding first rotation angle range according to the rotation angle information of each joint;
and the third execution module is used for sending out a second reminding signal when the rotation angle of at least one joint exceeds the corresponding first rotation angle range.
In some embodiments, the wearable demonstrator teaching control device further comprises a first calculating module, a third judging module and a fourth executing module;
the first calculation module is used for calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
the third judging module is used for judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
and the fourth execution module is used for sending a pause instruction to the robot when the end part of the arm lever of at least one robot exceeds the allowed movement range.
In some embodiments, the wearable teach pendant teaching control apparatus further comprises a fifth execution module, and the fifth execution module is used for sending out a third reminding signal when the end of the arm lever of at least one robot exceeds the allowed movement range.
In some embodiments, the wearable demonstrator teaching control device further comprises a fourth judging module and a sixth executing module;
the fourth judging module is used for judging whether the end part of each arm lever of the robot exceeds the first moving range according to the position data of the end part of each arm lever of the robot;
and the sixth execution module is used for sending out a fourth reminding signal when the end part of the arm lever of at least one robot exceeds the first movement range.
In some embodiments, the wearable demonstrator teaching control device further comprises a second obtaining module, a fifth judging module and a seventh executing module;
the second acquisition module is used for acquiring the rotation angular speed information of each joint of the wearable demonstrator;
the fifth judging module is used for judging whether the rotating angular speed of each joint is greater than the corresponding maximum allowable angular speed according to the rotating angular speed information of each joint;
and the seventh execution module is used for sending a pause instruction to the robot when the rotating angular speed of at least one joint is greater than the corresponding maximum allowable angular speed.
In some embodiments, the wearable teach pendant teaching control apparatus further comprises an eighth execution module, and the eighth execution module is configured to issue a fifth warning signal when the rotational angular velocity of at least one joint is greater than the corresponding maximum allowable angular velocity.
In some preferred embodiments, the wearable teach pendant teaching control device further comprises a sixth judging module and a ninth executing module;
the sixth judging module is used for judging whether the rotation angular speed of each joint is greater than the corresponding angular speed threshold value according to the rotation angular speed information of each joint;
and the ninth execution module is used for sending a sixth reminding signal when the rotating angular speed of at least one joint is greater than the corresponding angular speed threshold value.
As can be seen from the above, the wearable demonstrator teaching control device acquires the rotation angle information of each joint of the wearable demonstrator; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is used for enabling the robot to pause to move; the robot can be effectively prevented from being damaged due to overlarge actions of the operator.
In a third aspect, an embodiment of the present application provides an electronic device 100, which includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the wearable teach pendant teaching control method described above by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: acquiring rotation angle information of each joint of the wearable demonstrator; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is for causing the robot to pause the movement.
According to the above, the electronic device acquires the rotation angle information of each joint of the wearable demonstrator; judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint; if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot; the pause instruction is used for enabling the robot to pause to move; the robot can be effectively prevented from being damaged due to overlarge actions of the operator.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (8)
1. A wearable demonstrator teaching control method is applied to a wearable demonstrator, the wearable demonstrator is worn on an arm of an operator when in use, and can control corresponding joints of a robot to make corresponding motions by capturing the motions of the arm and each joint of a hand of the operator; the method is characterized by comprising the following steps:
acquiring rotation angle information of each joint of the wearable demonstrator;
judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range or not according to the rotation angle information of each joint;
if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a pause instruction to the robot;
the pause instruction is used for enabling the robot to pause to move;
the step of judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range according to the rotation angle information of each joint comprises the following steps:
inquiring in a comparison table according to the rotation angle information of each joint of the wearable demonstrator so as to judge whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range;
the comparison table is generated by setting allowable rotation angle ranges corresponding to all joints of the wearable demonstrator according to the rotatable ranges of all joints of the robot;
the teaching control method of the wearable teaching machine further comprises the following steps:
calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
if the end of the arm lever of at least one robot exceeds the allowed moving range, a pause instruction is sent to the robot.
2. The wearable teach pendant teaching control method of claim 1, wherein the step of sending a pause command to the robot if the rotation angle of at least one joint exceeds the corresponding allowable rotation angle range further comprises:
and if the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range, sending a first reminding signal.
3. The wearable teach pendant control method of claim 1, further comprising, after the step of obtaining the rotation angle information of each joint of the wearable teach pendant:
judging whether the rotation angle of each joint exceeds a corresponding first rotation angle range or not according to the rotation angle information of each joint;
and if the rotating angle of at least one joint exceeds the corresponding first rotating angle range, sending a second reminding signal.
4. The wearable teach pendant teaching control method according to claim 1, wherein the step of sending a pause command to the robot if the arm end of the at least one robot exceeds the allowable movement range further comprises:
and if the end part of the arm lever of at least one robot exceeds the allowed moving range, sending out a third reminding signal.
5. The teaching control method of a wearable teach pendant of claim 1, further comprising, after the step of calculating position data of each arm end of the robot based on the rotation angle information of each joint:
judging whether the end part of each arm lever of the robot exceeds a first moving range according to the position data of the end part of each arm lever of the robot;
and if the end part of the arm lever of at least one robot exceeds the first moving range, sending a fourth reminding signal.
6. The utility model provides a wearable demonstrator teaching controlling means which characterized in that includes:
the first acquisition module is used for acquiring the rotation angle information of each joint of the wearable demonstrator;
the first judgment module is used for judging whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range according to the rotation angle information of each joint;
the first execution module is used for sending a pause instruction to the robot when the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range;
the pause instruction is used for enabling the robot to pause to move;
when the first judging module judges whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range according to the rotation angle information of each joint,
inquiring in a comparison table according to the rotation angle information of each joint of the wearable demonstrator so as to judge whether the rotation angle of each joint exceeds the corresponding allowable rotation angle range;
the comparison table is generated by setting allowable rotation angle ranges corresponding to all joints of the wearable demonstrator according to the rotatable ranges of all joints of the robot;
wearable demonstrator teaching controlling means still includes:
the first calculation module is used for calculating the position data of the end part of each arm lever of the robot according to the rotation angle information of each joint;
the third judging module is used for judging whether the end part of each arm lever of the robot exceeds an allowed moving range according to the position data of the end part of each arm lever of the robot;
and the fourth execution module is used for sending a pause instruction to the robot when the end part of the arm lever of at least one robot exceeds the allowed movement range.
7. The wearable teach pendant teaching control apparatus according to claim 6, further comprising:
and the second execution module is used for sending out a first reminding signal when the rotating angle of at least one joint exceeds the corresponding allowable rotating angle range.
8. An electronic device comprising a processor and a memory, the memory having a computer program stored therein, the processor being configured to execute the wearable teach pendant teaching control method of any of claims 1-5 by calling the computer program stored in the memory.
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| US10551923B2 (en) * | 2016-05-04 | 2020-02-04 | Worcester Polytechnic Institute | Haptic glove as a wearable force feedback user interface |
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| CN107363813B (en) * | 2017-08-17 | 2020-08-04 | 北京航空航天大学 | Desktop industrial robot teaching system and method based on wearable equipment |
| JP6931585B2 (en) * | 2017-10-02 | 2021-09-08 | 株式会社オカムラ | Work system, work system control method and program |
| CN107943283B (en) * | 2017-11-08 | 2021-02-02 | 浙江工业大学 | Mechanical arm pose control system based on gesture recognition |
| CN209936912U (en) * | 2019-05-15 | 2020-01-14 | 苏州大学 | Interactive control articulated arm |
| CN110253583B (en) * | 2019-07-02 | 2021-01-26 | 北京科技大学 | Human body posture robot teaching method and device based on wearable teaching clothes video |
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