TW201805127A - Control device of robot arm and teaching system and method using the same - Google Patents

Abstract

A control device for a robot arm includes a pressure sensing module and a control module. The pressure sensing module is provided on an operating portion of the robot arm, and the pressure sensing module has a touch sensitive surface for detecting an operation command applied to the touch sensitive surface. The control module is adapted to receive at least a pressure sensing signal outputted by the pressure sensing module and to output a motor driving signal to the robot arm in response to the operation command. The touch sensitive surface includes a first touch sensitive area for defining a first reference coordinate system satisfying a translational motion model and a second touch sensitive area for defining a second reference coordinate system satisfying a rotational motion model and the control module controls the robot arm to translate or rotate according to the touch position of the operation command.

Description

Mechanical arm control device and teaching system and method thereof

The present invention relates to a robotic arm, and more particularly to a mechanical arm control device and teaching system and method therefor.

In a conventional manufacturing or assembly automation plant, the robot or robotic arm is controlled by a joint motor controller to perform the motion of the corresponding joint motor. At the same time, each joint motor also transmits a coordinate signal to the robot control module for coordinate integration and calculation into an absolute coordinate message, and the absolute coordinate message is synchronously displayed on the user interface for the user to judge whether the mechanical arm is in operation or not. In line with expectations. However, when the operating state of the robot arm is not as expected, the user can usually only modify the command from the programming language or the application, and modify the moving path of the robot arm again and again according to the command. Such complicated work is not only time consuming, but also lacks intuitive programming skills. That is to say, there is no intuitive input interface between the robot arm and the user, and the conventional programming system cannot allow the user to modify or train the moving path of the robot arm according to the intuitive operation, which is currently the design and manufacture of the robot arm. Still need to overcome the problem.

The present invention relates to a control device for a robot arm and a teaching system and method thereof for an operator to modify or train a moving path of a robot arm according to an intuitive operation to achieve intuitive control.

The invention relates to a control device for a mechanical arm and a teaching system and method thereof, which can flexibly adjust the compliance degree of the robot arm, and can directly teach the robot arm to perform joint posture control (coarse positioning teaching) and/or. Or mechanical arm end position control (fine positioning teaching).

According to an aspect of the invention, a control device for a robot arm includes a pressure sensing module and a control module. The pressure sensing module is disposed on an operating portion of a mechanical arm, and the pressure sensing module has a touch sensing surface for detecting an operation command applied to the touch sensing surface. The control module is configured to receive at least one pressure sensing signal output by the pressure sensing module, and output a motor driving signal to the robot arm in response to the operation instruction. The touch sensing surface includes a first touch sensing area and a second touch sensing area, wherein the first touch sensing area is used to define a first reference coordinate system that satisfies a translational motion mode, and the second touch sensing area is used. To define a second reference coordinate system that satisfies a rotational motion mode, and the control module controls the mechanical arm translation or rotational motion according to the touch position of the operation command.

According to an aspect of the invention, a teaching system for a robot arm is provided, comprising a pressure sensing module and a control module. The pressure sensing module is disposed on an operating portion of a mechanical arm, and the pressure sensing module has a touch sensing surface for detecting an operation command applied to the touch sensing surface. The touch sensing surface includes a first touch sensing area and a second touch sensing area, wherein the first touch sensing area is used to define a first reference coordinate system that satisfies a translational motion mode, and the second touch sensing area The zone is used to define a second reference coordinate system that satisfies a rotational motion mode. The control module is configured to receive at least one pressure sensing signal output by the pressure sensing module, and output a motor driving signal to the robot arm in response to the operation command, wherein the control module includes a joint motor controller and a mode switching mode Group and a plurality of joint motor encoders. The joint motor controller generates a set of motor torque signals for translational or rotational movement of the end of the robot arm according to the operation command, and the control module controls the translation or rotation movement of the robot arm according to the touch position of the operation command. The mode switching module is used to switch the operation mode of the robot arm, and the operation mode of the robot arm includes a compliance teaching mode and a touch operation mode. The joint motor encoder is disposed at the joint of the robot arm, and the joint motor encoder generates a set of joint angle signals according to the movement trajectory of the robot arm in the compliant teaching mode.

According to one aspect of the invention, a method of direct teaching of a robotic arm is provided, comprising the following steps. Initialize a robot arm and output a motor drive signal to the robot arm. Record the movement path of the robot arm to know the current position and posture of the robot arm. When the movement track of the robot arm deviates from a target position, switching the operation mode of the robot arm, the operation mode includes a compliance teaching mode and a touch operation mode, wherein in the touch operation mode, the transmission is from a pressure sensing mode The group's operation command controls the robot arm end position; in the compliant teaching mode, the joint posture control of the robot arm is performed by hand; and the end position control of the robot arm is passed, or the end of the robot arm is first passed. The position control then performs the joint attitude control, or the joint position control of the robot arm is performed first, and then the end position control is performed to correct the movement trajectory of the robot arm. End recording the movement of the robot arm. Reproduce the teaching trajectory of the robot arm to move the robot arm to the target position.

In order to provide a better understanding of the above and other aspects of the present invention, the following detailed description of the embodiments and the accompanying drawings

100‧‧‧Control device

101‧‧‧ Robotic arm

102‧‧‧ joint motor

103‧‧‧Forearm

104‧‧‧ rear arm

105‧‧‧Operation Department

106‧‧‧ grip

107‧‧‧ bracket

108‧‧‧End

108a‧‧‧Cylinder

109‧‧‧Mechanical tools

110‧‧‧ Pressure Sensing Module

111‧‧‧ Pressure sensing components

112‧‧‧Touch touch surface

112a‧‧‧First ring touch sensing area

112b‧‧‧Second circular touch sensing area

113‧‧‧Array circuit

114‧‧‧First line

115‧‧‧second line

116‧‧‧Electrode layer

117‧‧‧ Pressure sensing layer

118‧‧‧ lower electrode layer

130‧‧‧Control Module

132‧‧‧ Joint Motor Controller

133‧‧‧Gravity compensator

134‧‧‧Mode Switching Module

135‧‧‧ friction compensator

136‧‧‧Joint motor encoder

138‧‧‧ teach controller

140‧‧‧Training system

A1~A8‧‧‧Sensing area

P, P1, P2‧‧‧ touch points

Fy‧‧‧Y axial component

Fx‧‧‧X axial component

F‧‧‧force

C1, C2‧‧‧ drag track

Ry, Rx‧‧‧ torque

τ _g ‧‧‧gravity compensation torque

τ _F ‧‧‧ friction compensation torque

S11~S18‧‧‧Steps

Fig. 1 is a schematic view showing a pressure sensing module applied to a control device for a robot arm of the present invention.

Figure 2 is a schematic view of a robotic arm with a freehand teaching function.

3A and 3B are schematic and exploded views showing the pressure sensing module disposed at the end of the robot arm.

4A to 4D respectively show reference diagrams in which the end portion performs a freehand teaching to correspondingly generate a translational motion or a rotational motion.

Figure 5 is a schematic diagram showing the operator's hands-on teaching of the robot arm.

Figure 6 is a block diagram showing the teaching system of the robot arm in accordance with an embodiment of the present invention.

Figure 7 is a schematic diagram showing torque compensation for the robot arm.

Figure 8 is a flow chart showing the direct teaching of the robot arm in accordance with an embodiment of the present invention.

The embodiments are described in detail below, and the embodiments are only intended to be illustrative and not intended to limit the scope of the invention.

Referring to FIGS. 1 and 2 , the control device 100 of the robot arm 101 includes a pressure sensing module 110 and a control module 130 according to an embodiment of the invention. The pressure sensing module 110 is disposed on the operating portion 105 of the robot arm 101. As shown in FIG. 3A , the pressure sensing module 110 has a touch sensing surface 112 for detecting an operation command applied to the touch sensing surface 112 . In addition, the control module 130 is configured to receive at least one pressure sensing signal output by the pressure sensing module 110 and output a motor driving signal to the robot arm 101 in response to the operation command.

Referring to FIGS. 1 and 3A , the pressure sensing module 110 includes a plurality of pressure sensing elements 111 arranged in an array and connected to each other to form a touch sensing surface 112 . Each of the pressure sensing elements 111 has an upper electrode layer 116, a pressure sensing layer 117 and a lower electrode layer 118, and the pressure sensing layer 117 is located between the upper electrode layer 116 and the lower electrode layer 118. Each of the pressure sensing elements 111 can be used as a touch point P. When the pressure sensing layer 117 is pressed between the upper electrode layer 116 and the lower electrode layer 118, the pressure sensing elements 111 can be connected. The array circuit 113 is transmitted to the control module 130 for the control module 130 to determine the coordinates of the touch point P or the touch area where it is located, thereby driving the robot arm 101 in response to the operation command.

In an embodiment, the array circuit 113 may include a plurality of first lines 114 arranged in parallel along the X-axis and a plurality of second lines 115 arranged in parallel along the Y-axis direction. Each of the first lines 114 is electrically connected. The upper electrode layer 116 of the pressure sensing element 111 is linearly arranged along the X-axis, and each of the second lines 115 is electrically connected to the lower electrode layer 118 of the pressure sensing element 111 linearly arranged along the Y-axis to form One touches the sensing surface 112. Of course, the touch sensing surface 112 formed by other touch sensing technologies or proximity sensing technologies can also be applied to the control device 100 of the present invention, and the present invention is not limited thereto.

The pressure sensing module 110 can detect whether an object touches the robot arm 101. This object is for example an operator or a machine that operates in conjunction with the robotic arm 101. The pressure sensing module 110 can be mechanically integrated with the robot arm 101 as a mechanical arm 101 tactile skin. In addition, the control module 130 can be electrically connected to the pressure sensing module 110 via a signal line inside the robot arm 101 or receive the signal output by the pressure sensing module 110 via wireless transmission.

For example, when the operator touches the pressure sensing module 110 with a finger, the pressure sensing module 110 generates a pressure sensing signal according to an operation command applied to the touch sensing surface 112. The pressure sensing signal is generated. The motor drive signal is controlled via the control module 130 to control the translation and/or rotation of the end 108 of the robot arm 101. In addition, the motion parameter (displacement amount and rotation amount) of the motor driving signal can be determined by a translation signal or a rotation signal generated by a single touch point P, or by a translation signal or a rotation signal generated by a combination of a plurality of touch points P, Or by a combination of the two, thereby controlling the joint motor 102, the forearm 103, and the rear arm 104 of the robot arm 101 to generate horizontal movement, vertical movement, forward extension, backward backward, upward ascending, downward downward, or rotational motion. Wait.

Referring to FIG. 2 , the pressure sensing module 110 is disposed on the operating portion 105 of the robot arm 101 . In an embodiment, the operating portion 105 is located, for example, at the foremost end of the forearm 103 of the robot arm 101, and has a grip portion 106 that can be gripped by an operator, a bracket 107 for placing the mechanical tool 109, and a The end 108 of the pressure sensing module 110 is disposed. However, in another embodiment, the pressure sensing module 110 can also be disposed on any part that is easy to touch, such as the outer surface of the forearm 103 or the outer surface of the rear arm 104, but the invention does not limit this. .

Referring to FIG. 3A, the touch sensing surface 112 is bent into a curved surface, for example, the end portion 108 for arranging the pressure sensing module 110 is, for example, a cylinder 108a, and the touch sensing surface 112 is located at the circumference of the cylinder 108a. On the surface, to form a center centered on the cylinder 108a, the radius of the cylinder 108a is a distance, The Z-axis is a three-dimensional spatial polar coordinate system of axial length for defining the coordinates of any touch point P on the touch sensing surface 112. In an embodiment, the touch sensing surface 112 may completely cover the end portion 108, or partially cover the end portion 108, or the touch sensing surface 112 may be divided into a plurality of independent sensing regions, each of which is independent of the sensing region. The invention is attached to a different orientation and surrounds the peripheral surface of the end portion 108 to form an annular sensing area or other shape, which is not limited by the present invention.

Referring to FIG. 3B, in an embodiment, after the touch sensing surface 112 is deployed, the first annular touch sensing area 112a and the second annular touch sensing area 112b may be divided according to the operation mode. The first annular touch sensing area 112a can distinguish the plurality of sensing areas A1 to A8, for example, 4 to 12 or more. In this embodiment, eight are taken as an example. The second ring-shaped touch sensing area 112b can distinguish the plurality of sensing areas A1 to A8, for example, 4 to 12 or more. In this embodiment, eight are taken as an example. Each of the sensing regions A1 to A8 is located at different orientations of the cylinder 108a (eg, upper, lower, left, right, upper left, upper right, lower left, lower right) to define coordinates of the circumferential surface of the cylinder 108a, and further It is convenient to calculate the orientation and coordinates of the forces applied to the sensing areas A1 to A8.

The first annular touch sensing area 112a is configured to define a first reference coordinate system that satisfies a translational motion mode, that is, when an operation instruction applied to the first annular touch sensing area 112a is detected, the control is performed. The module 130 can control the translation of the end 108 of the robot arm 101. In addition, the second annular touch sensing area 112b is used to define a second reference coordinate system that satisfies a rotational motion mode, that is, when an operation command applied to the second annular touch sensing area 112b is detected. The control module 130 can control the end 108 of the robot arm 101 to perform a rotational motion.

Therefore, in the 4A and 4B drawings, the end of the robot arm 101 108 may generate a one-dimensional or two-dimensional translation perpendicular to the axis of the cylinder 108a (ie, the Z-axis) according to the coordinates (or orientation) of the single touch point P applied to the first annular touch sensing area 112a. Movement, or a translational motion along the axis of the cylinder 108a (i.e., the Z-axis) may be generated based on the respective towed trajectories formed by the at least two touch points P applied to the first annular touch sensing region 112a. For example, multiple fingers (eg, two, or three or four) are simultaneously and continuously pressed on the end 108, and each finger is controlled to move or rotate in parallel at the same time to generate a plurality of equal lengths moved from point A to The drag track of point B, at this time, the control module 130 can control the translation movement of the end portion 108 along the Z axis according to the motion vector or rotation angle from point A to point B.

Referring to FIG. 4A, in a translational motion mode, when an operation command (for example, a single touch action) applied to the first annular touch sensing area 112a is detected, the force on the touch coordinate is detected. The component of F in the X-axis is fx, and the component in the Y-axis is fy. Therefore, the end portion 108 generates a translation in the X-axis according to the component fx in the X-axis direction, and the end portion 108 generates a translation in the Y-axis according to the component fy in the Y-axis direction, so that the end portion 108 can generate a two-dimensional translational motion. . When the component fx acting on the X-axis is zero or the component fy in the Y-axis is zero, the end 108 only has one-dimensional translational motion.

Next, referring to FIG. 4B, in a translational motion mode, when an operation command (for example, two touch actions) applied to the first ring-shaped touch sensing area 112a is detected, the two fingers continue simultaneously according to the two fingers. Pressing and rotating to create an equal length drag trajectory formed by each of the two touch points P1, P2 applied to the first annular touch sensing area 112a, the control end 108 is generated along the axis of the cylinder 108a (ie, Z Translational movement of the axis). For example, if the drag track C1 is generated in the clockwise direction, the control end 108 can be translated along the +Z axis; if the drag is generated in the counterclockwise direction At track C2, the controllable end 108 produces a translation along the -Z axis. In the present embodiment, the two fingers are simultaneously and continuously pressed on the end portion 108 for explanation, but it is not limited thereto, and three or four fingers may be simultaneously and continuously pressed.

In addition, referring to FIGS. 4C and 4D, the end 108 of the robot arm 101 can generate an axis with respect to the vertical cylinder 108a according to the coordinates of a touch point P applied to the second annular touch sensing area 112b ( That is, the rotational motion of the one-dimensional or two-dimensional coordinate axis (X-axis and/or Y-axis) of the Z-axis) or the two touch points P1 and P2 applied to the second annular touch sensing region 112b are respectively formed. The equal length drag track produces a rotational motion that is rotated relative to the axis of the cylinder 108a (ie, the Z axis). For example, multiple fingers (eg, two, or three or four) are simultaneously and continuously pressed on the end 108, and each finger is controlled to move or rotate in parallel at the same time to generate a plurality of equal lengths moved from point A to The drag track of point B, at this time, the control module 130 can control the rotational movement of the end portion 108 about the Z axis according to the motion vector or the rotation angle from point A to point B.

Referring to FIG. 4C, in a rotational motion mode, when an operation command (for example, a single touch action) applied to the second annular touch sensing area 112b is detected, the force on the touch coordinate is detected. The component of F in the X-axis is fx, and the component in the Y-axis is fy. Therefore, the end portion 108 can generate a moment Ry that is rotated about the Y-axis according to the component fx in the X-axis direction, and the end portion 108 can generate a moment Rx that rotates around the X-axis according to the component fy in the Y-axis direction, thus the end portion 108 can produce two-dimensional rotational motion. When the component fx of the force in the X-axis is zero or the component fy in the Y-axis is zero, the end portion 108 is only rotated about the one-dimensional coordinate axis.

Referring to FIG. 4D, in a rotational motion mode, when an operation command applied to the second annular touch sensing area 112b is detected (eg, two touches When the two fingers simultaneously press and rotate to generate the drag trajectories respectively formed by the two touch points P1, P2 applied to the second annular touch sensing area 112b, the control end 108 can be generated relative to A rotational motion of the axis (ie, the Z-axis) of the cylinder 108a. For example, if the drag track C1 is generated in the clockwise direction, the control end 108 is rotated clockwise around the Z axis; if the drag track C2 is generated in the counterclockwise direction, the control end 108 is generated around the Z axis. The counterclockwise rotation. In the present embodiment, the two fingers are simultaneously and continuously pressed on the end portion 108 for explanation, but it is not limited thereto, and three or four fingers may be simultaneously and continuously pressed.

Referring to FIGS. 5 and 6, the teaching system 140 of the robot arm 101 includes a pressure sensing module 110 and a control module 130 in accordance with an embodiment of the present invention. The pressure sensing module 110 is disposed on the operating portion 105 of the robot arm 101, and the pressure sensing module 110 has a touch sensing surface 112 for detecting an operation command applied to the touch sensing surface 112. For details of the details of the pressure sensing module 110, refer to the above embodiments, and details are not described herein again.

Referring to FIG. 6 , the control module 130 includes a joint motor controller 132 , a mode switching module 134 , at least one joint motor encoder 136 , and a teaching controller 138 . In Fig. 6, a joint motor encoder 136 is taken as an example. The mode switching module 134 is configured to switch the operation mode of the robot arm 101 to select to enter a touch operation mode or a compliance teaching mode. In the touch operation mode, the joint motor controller 132 can generate a set of motor torque signals for moving the robot arm 101 according to an operation command from the pressure sensing module 110 to control the torque of each joint motor 102. Moreover, in the compliant teaching mode, the joint motor controller 132 can generate a set of joint angle signals based on the encoded commands from the joint motor encoder 136. The difference between the touch operation mode and the compliance teaching mode is that the touch operation mode can be The position of the end portion 108 is precisely controlled by an operation command from the pressure sensing module 110, and the compliant teaching mode can be used to quickly move the robot arm 101 to a predetermined position by moving the robot arm 101, that is, controlling the robot arm 101. Joint posture. Therefore, the teaching system of the present invention can directly perform the end position control of the robot arm 101 (which can be referred to as fine positioning teaching) through the touch operation mode, or first perform the joint posture control of the robot arm 101 through the compliant teaching mode (may be called The coarse positioning teaching), the precise control of the end position of the robot arm 101 (fine positioning teaching) by the touch operation mode, or the precise control of the end position of the robot arm 101 (fine positioning teaching), and then mechanical The joint posture control of the arm 101 (coarse positioning teaching), the present invention does not limit this, and further solves the problem that the positioning accuracy encountered by the teaching system for direct coarse positioning teaching is poor and the motor resistance is too large to reach the end position of the robot arm. Problems such as precise control (fine positioning).

In addition, the joint motor encoder 136 is disposed at the joint of the robot arm 101, and the joint motor encoder 136 generates a set of joint angle signals according to the movement trajectory of the robot arm 101 in the compliant teaching mode to record the current position of each joint and attitude. In addition, the teaching controller 138 is coupled to the joint motor encoder 136, and stores the set of joint angle signals generated by the joint motor encoder 136 in the compliant teaching mode, and can also store the motor torque signals at the joints in the touch operation mode. To record the coordinate information of the teaching point (ie, the joint posture). When the movement trajectory of the robot arm 101 is to be reproduced, the teaching controller 138 can convert the set of joint angle signals and the motor torque signals into motor drive signals for reproducing the movement trajectory of the robot arm 101.

Please refer to FIG. 5 , that is, the teaching controller 138 utilizes the touch sensing signal generated by the operator when performing the teaching of the robot arm 101 (the single-touch signal or the at least two touch points respectively form a drag signal). ), encoder position (joint angle signal) and coordinate information of the teaching point, and with the mathematical model of the built-in robot arm 101 and physical parameters (centroid position, mass, friction coefficient and reference gravity direction of each joint, etc.), the joint motor 102 is calculated. The output command of the forearm 103 or the rear arm 104 is controlled so that the operator can directly teach the robot arm 101 and can adjust different positioning accuracy according to individual conditions. At the same time, in the direct teaching process, the teaching controller 138 stores the coordinate information of the teaching points, and the coordinate information of the teaching points constitutes the movement trajectory of the robot arm 101. Thus, with the coordinate information of the teaching points, the teaching controller 138 can further generate a planned teaching path and drive the robotic arm 101 to smoothly pass the arm ends 108 through the teaching points.

In addition, referring to Figures 6 and 7, the joint motor controller 132 further includes a gravity compensator 133 that depends on the angle of each joint on the robot arm 101, the center of gravity of each arm, and the center of gravity of each joint. The distance and the mass of each arm calculate the gravity compensation moment τ _g acting on each arm. In addition, the joint motor controller 132 further includes a friction compensator 135 that calculates a frictional compensation torque τ _F acting on each joint based on the rotational speed of each joint on the robot arm 101. Therefore, the control module 110 can correct the output torque τ of each joint motor 102 of the robot arm 101 according to the gravity compensation torque τ _g and the friction compensation torque τ _F described above.

When the operator actually uses the direct teaching, since most of the joints of the robot arm 101 have resistance (inertia load effect, friction, etc.), the operator often has to exert a large force to push the robot, and the teaching point cannot be subtle. Although conventional techniques can solve the problem of resistance through some complicated or special mechanism design, they cannot flexibly adjust the degree of compliance in teaching. Therefore, this The teaching system of the invention combines the pressure sensing module 110 and the joint motor encoder 136 to teach the fine positioning and the coarse positioning, so that the robot can be taught according to individual conditions, so that the operator can save labor and improve the coordination of human and machine operations. The convenience of fine positioning teaching.

Referring to FIG. 8, a method for directly teaching the robot arm 101 according to an embodiment of the present invention includes the following steps: in step S11, the robot arm 101 is initialized, for example, the inertia matrix and the heavy torque of each joint motor 102 are set. Parameters such as friction coefficient and reference gravity direction and equations of motion, such as "Newton. Euler's equation of motion", "Lagrangian equation of motion", etc., the inertia matrix that control module 130 can output via each joint motor 102 Or the heavy moment calculates the current position and posture of the robot arm 101, that is, the initial position and posture of the robot arm 101. In step S12, the movement trajectory of the robot arm 101 is recorded, and the end portion 108 of the robot arm 101 is driven to a target position. At this time, the control module 130 can set the working range and the working mode of the robot arm 101 according to the motion parameters (such as the torque and the speed), and output a motor driving signal to the robot arm 101 according to the working mode of the robot arm 101. In addition, the control module 130 can determine whether the movement trajectory of the robot arm 101 is on a predetermined movement path or deviate from the target position. If the robot arm 101 deviates from the target position, the following teaching steps can be selected. In step S13, if the robot arm 101 is to be directly taught, the operation mode of the robot arm 101 is switched to one of the following three operation modes. In the first mode of operation (step S14), the robot arm 101 can be controlled by an operation command from the pressure sensing module 110, and the end position control (fine positioning teaching) can be directly performed to correct the robot arm 101. The movement track. In the second mode of operation (step S15), the robot arm 101 can be moved by hand to a predetermined position, that is, the joint posture of the robot arm 101 is controlled (coarse positioning teaching), and then the robot arm 101 is further operated by the touch operation. Precise control of the position of the end (fine positioning teaching) to correct the movement trajectory of the robot arm 101. In addition, in the third operation mode (step 16), after the end position control (fine positioning teaching) of the robot arm 101 is performed, the joint posture control (coarse positioning teaching) is performed by hand to correct the mechanical arm 101. Move the track. Next, in step S17, when the above teaching is completed, the movement trajectory of the recording robot 101 is ended. At this time, the teaching controller 138 can store the touch sensing signal generated by the operator when performing the teaching of the robot arm 101 (the single-touch signal or the drag signal formed by each of the at least two touch points), the encoder position (joint Angle signal) and coordinate information of the teaching point. In step S18, when the teaching trajectory of the robot arm 101 is to be reproduced, the teaching controller 138 can convert the signal just stored into a motor driving signal for reproducing the movement trajectory of the robot arm 101 to drive the robot arm 101 to the target. position.

As can be seen from the above description, the operator can give an operation command for the movement of the robot arm 101 through the pressure sensing module 110, and can convert the torque value required for the joints of the robot arm 101 or the torque value through the control module 130. The compensation (gravity compensation torque or friction compensation torque) is used for the control module 130 to control the position and posture of each joint, thereby realizing the industrial application of the cooperation between the human and the robot arm 101. In addition, the teaching system and teaching method of the present invention combines the pressure sensing module 110 and the joint motor encoder 136 to teach fine positioning and coarse positioning, so that the operator can flexibly adjust the compliance degree of the robot arm 101, and thus Solution teaching system Problems such as poor positioning accuracy encountered in direct teaching and excessive motor resistance cannot be finely positioned.

In the above, the present invention has been disclosed in the above embodiments, but it is not intended to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100‧‧‧Control device

101‧‧‧ Robotic arm

102‧‧‧ joint motor

103‧‧‧Forearm

104‧‧‧ rear arm

105‧‧‧Operation Department

106‧‧‧ grip

107‧‧‧ bracket

108‧‧‧End

109‧‧‧Mechanical tools

110‧‧‧ Pressure Sensing Module

130‧‧‧Control Module

Claims (21)

A control device for a mechanical arm includes: a pressure sensing module disposed on an operating portion of a mechanical arm, the pressure sensing module having a touch sensing surface for detecting a touch sensing An operation command on the surface, wherein the touch sensing surface comprises a first touch sensing area and a second touch sensing area, wherein the first touch sensing area is used to define a first reference coordinate that satisfies a translational motion mode And the second touch sensing area is configured to define a second reference coordinate system that satisfies a rotational motion mode; and a control module is configured to receive the at least one pressure sensing signal output by the pressure sensing module, and A motor drive signal is output to the robot arm to respond to an operation command, wherein the control module controls the translational or rotational movement of the robot arm according to the touch position of the operation command. The control device of claim 1, wherein the pressure sensing module comprises a plurality of pressure sensing elements arranged in an array and connected to each other, each pressure sensing element having an upper electrode layer and a pressure sense And a lower electrode layer, and the pressure sensing layer is located between the upper electrode layer and the lower electrode layer. The control device of claim 1, wherein the touch sensing surface is curved into a curved surface, and the operating portion has an end portion, the touch sensing surface being located on a surface of the end portion. The control device of claim 3, wherein the end portion is a cylinder, and the first touch sensing area and the second touch sensing area surround the circumferential surface of the cylinder. The control device of claim 4, wherein the robot arm The end portion generates a one-dimensional or two-dimensional translational motion perpendicular to an axis of the cylinder according to a coordinate of a single touch point applied to the first touch sensing area, or according to the first touch applied thereto A drag trajectory formed by each of the at least two touch points on the touch sensing area produces a translational motion along the axis of the cylinder. The control device of claim 4, wherein the end of the robot arm is generated relative to a vertical axis of the cylinder according to a coordinate of a single touch point applied to the second touch sensing area. A rotational motion of the one- or two-dimensional coordinate axis rotation, or a rotational motion formed by each of the at least two touch points applied to the second touch sensing area, produces a rotational motion that is rotated relative to the axis of the cylinder. The control device of claim 1, wherein the control module comprises a joint motor controller and a mode switching module, wherein the mode switching module is configured to switch an operation mode of the robot arm, the robot arm The operation mode includes a compliance teaching mode and a touch operation mode, in which the joint motor controller generates a set of motor torques for translational or rotational movement of the end of the robot arm according to the operation command. Signal. The control device of claim 7, wherein the control module comprises at least one joint motor encoder disposed at a joint of the robot arm, the joint motor encoder according to the robot arm in the compliant teaching mode The movement track produces a set of joint angle signals. The control device of claim 8, wherein the control module comprises a teaching controller, wherein the teaching controller stores the switch in the compliant teaching mode The set of joint angle signals generated by the motor encoder, and the teaching controller can convert the set of joint angle signals and the set of motor torque signals into the motor drive signal for reproducing the movement track of the robot arm. The control device of claim 7, wherein the joint motor controller further comprises a gravity compensator for each joint according to an angle of each joint on the robot arm and a center of gravity of each arm The distance of the center of gravity and the mass of each arm calculate the gravitational compensation moment acting on each arm. The control device of claim 7, wherein the joint motor controller further comprises a friction compensator for calculating the acting speed of each joint based on the rotational speed of each joint on the robot arm. Friction compensation torque. A teaching system of a mechanical arm includes: a pressure sensing module disposed on an operating portion of a mechanical arm, the pressure sensing module having a touch sensing surface for detecting a touch sensing An operation command on the surface, wherein the touch sensing surface comprises a first touch sensing area and a second touch sensing area, wherein the first touch sensing area is used to define a first reference coordinate that satisfies a translational motion mode And the second touch sensing area is configured to define a second reference coordinate system that satisfies a rotational motion mode; and a control module is configured to receive the at least one pressure sensing signal output by the pressure sensing module, and Outputting a motor driving signal to the robot arm to respond to an operation command, wherein the control module comprises: a joint motor controller, and the joint motor controller generates the command according to the operation command a set of motor torque signals for translating or rotating the mechanical arm; a mode switching module for switching an operating mode of the robot arm, the operating mode of the robot arm comprising a compliant teaching mode and a touch operation mode; And a plurality of joint motor encoders disposed at the joint of the robot arm, wherein the joint motor encoder generates a set of joint angle signals according to the movement trajectory of the robot arm in the compliant teaching mode; wherein the control module is The touch position of the operation command controls the translation or rotation movement of the robot arm. The teaching system of claim 12, wherein the pressure sensing module comprises a plurality of pressure sensing elements arranged in an array and connected to each other, each pressure sensing element having an upper electrode layer and a pressure sense And a lower electrode layer, and the pressure sensing layer is located between the upper electrode layer and the lower electrode layer. The teaching system of claim 12, wherein the touch sensing surface is a curved surface, and the operating portion has an end portion on a surface of the end portion. The teaching system of claim 14, wherein the end portion is a cylinder, and the first touch sensing area and the second touch sensing area surround the circumferential surface of the cylinder. The teaching system of claim 15, wherein the end of the robot arm generates an axis relative to the cylinder according to a position and a direction of a single touch point applied to the first touch sensing area. Vertical one- or two-dimensional translational motion, or according to at least two touch points applied to the first touch sensing area The resulting drag trajectory produces a translational motion along the axis of the cylinder. The teaching system of claim 15, wherein the end of the robot arm is generated relative to the vertical cylinder according to a position and a direction of a single touch point applied to the second touch sensing area. A rotational motion of the one-dimensional or two-dimensional coordinate axis rotation of the axis, or a rotational motion formed by each of the at least two touch points applied to the annular touch sensing area, produces a rotational motion that rotates relative to the axis. The teaching system of claim 14, wherein the control module further comprises a teaching controller, wherein the teaching controller stores the set of joint angle signals generated by the joint motor encoders in the compliant teaching mode, And the teaching controller can convert the set of joint angle signals into the motor drive signal that causes the movement track of the robot arm to reproduce. The teaching system of claim 14, wherein the joint motor controller further comprises a gravity compensator for each joint according to an angle of each joint on the robot arm and a center of gravity of each arm The distance of the center of gravity and the mass of each arm calculate the gravitational compensation moment acting on each arm. The teaching system of claim 14, wherein the joint motor controller further comprises a friction compensator that acts on each joint based on a rotational speed of each joint on the robot arm. Friction compensation torque. A method of directly teaching a robot arm, comprising: initializing a robot arm and outputting a motor drive signal to the machine An arm; recording a movement trajectory of the robot arm to know the current position and posture of the robot arm; when the movement trajectory of the robot arm deviates from a target position, switching an operation mode of the robot arm, the operation mode including a compliance instruction a mode and a touch operation mode, wherein in the touch operation mode, the mechanical arm end position is controlled by an operation command from a pressure sensing module; in the compliance teaching mode, the hand is The mechanical arm performs joint posture control; the position control of the arm is controlled, or the joint position control of the arm is first controlled by the end position, or the joint posture control of the robot arm is performed first. End position control, correcting the movement trajectory of the robot arm; ending recording the movement trajectory of the robot arm; and reproducing the teaching trajectory of the robot arm to move the robot arm to the target position.