TW201941886A - Teaching method for robotic arm and gesture teaching device using the same - Google Patents

Abstract

A teaching method for teaching a robotic arm of a robotic arm system to work by a gesture teaching device of the robotic arm of the robotic arm system is disclosed. the teaching method comprises the steps of: (a) sensing a touching situation of the user's finger by a touching sensing unit of the gesture teaching device; (b) transmitting the sensing result from the touching sensing unit to an identification unit so that the identification unit identifies touching information of the user' s finger on the touching sensing unit; (c) transmitting the touching information from the identification unit to a teaching unit of the gesture teaching device so that the teaching unit drives the robotic arm system to work according to the information of the user' gesture; and (d) displaying the operating result of the robotic arm system by a display unit.

Description

Method for teaching movement of mechanical arm and applicable gesture teaching device

This case relates to an action teaching method, in particular to an action teaching method of a robotic arm and an applicable gesture teaching device.

In recent years, with the vigorous development of mechanism science, automatic control and computer technology, robotic arm systems have been widely used in various industries. Robotic arm systems can control robotic arms to perform a variety of highly repetitive tasks, thereby providing high efficiency and stability. Automated production and assembly. If the robot arm can be used in the required application, it must be completed by matching the three steps of moving the robot arm, teaching the robot arm, and writing the application. Moving the robot arm refers to moving the robot arm to the user's needs. The position or trajectory in the space, while teaching the robotic arm means that the robotic arm memorizes the position or trajectory in the space required by the user, while writing an application means that the robotic arm can move automatically according to the user's intention. .

There are three main teaching methods for the movement of the conventional robotic arm. The first method is realized by the teaching device, that is, the teaching device is designed with various interfaces and buttons, so the user can operate the teaching device to complete the movement of the robotic arm and teach. Robot arm and writing app in three steps. The second method is realized by computer software, that is, the computer software is designed with various virtual interfaces and buttons, so the user can operate the computer software to complete the three steps of moving the robot arm, teaching the robot arm, and writing an application program. The third method uses teaching technology, that is, the user first moves the robotic arm by hand, and then teaches the robotic arm and composes an application program with a teaching device or computer software, thereby completing the three steps of the teaching method of the robotic arm movement.

However, since the three teaching methods of the above-mentioned conventional robotic arms require the use of a teaching device or computer software, they are not flexible and intuitive. In other words, the user cannot synchronously complete the movement of the robot while operating the robotic arm intuitively. Arms, teaching robots, and writing apps in three steps.

Therefore, it is necessary to develop a method for teaching the action of a robotic arm and a suitable gesture teaching device to solve the problems faced by the conventional technology.

This case is a method for teaching the movement of a robotic arm and a gesture teaching device suitable for the robot. When the user's hand directly contacts the gesture teaching device provided on the robotic arm of the robotic arm system, the robotic arm is intuitively operated. ， Using gesture teaching device to sense the touch of the user ’s finger, so that while the user intuitively operates the robotic arm, it is not necessary to use a teaching device or computer software to integrate the mobile robotic arm and teach the robotic arm together. And the three steps of writing the application program, so the teaching method of the robot arm's action in this case is more flexible and intuitive for the user.

In order to achieve the above purpose, one of the broader implementation aspects of the present case is to provide an action teaching method, which teaches the robot arm to operate through a gesture teaching device provided on the robot arm of the robot arm system. The action teaching method includes: (a) in When the user operates the robotic arm and directly touches his / her finger to the touch sensing unit of the gesture teaching device, the touch sensing unit is used to sense the user's finger touch; (b) the sensing result of the touch sensing unit is transmitted To the recognition unit of the gesture teaching device, so that the recognition unit recognizes the touch information of the user's finger on the touch sensing unit; and (c) transmitting the touch information of the user's finger recognized by the recognition unit to the gesture teaching The teaching unit of the device enables the teaching unit to drive the robot arm system to perform corresponding operations according to the information of the user's gesture; and (d) displays the operation result of the robot arm system through the display unit of the gesture teaching device, so that the user can The display unit judges whether the operation of the robot arm system is successful.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the description in the subsequent paragraphs. It should be understood that this case can have various changes in different aspects, all of which do not depart from the scope of this case, and that the descriptions and drawings therein are essentially for the purpose of illustration, rather than limiting the case.

Please refer to FIG. 1, FIG. 2 and FIG. 3, wherein FIG. 1 is a schematic flow chart of a method for teaching a robotic arm to act according to a preferred embodiment of the present invention, and FIG. 2 is a motion applicable to the action shown in FIG. 1 The schematic diagram of the structure of the robotic arm system of the teaching method. FIG. 3 is a schematic block diagram of the gesture teaching device shown in FIG. 2. As shown in FIG. 1, FIG. 2, and FIG. 3, the action teaching method of this embodiment can be applied to the robot arm system 1 to teach the robot arm 2 of the robot arm system 1, wherein the robot arm 2 is in In the automatic movement process, you can select the linear motion mode to move in a straight line, or you can select the curve motion mode to move in a curve. The robot arm system 1 further includes a gesture teaching device 3, which is set at one end of the robot arm 2. The touch sensing unit 30 includes a touch sensing unit 30, a recognition unit 31, a teaching unit 32, and a display unit 33. The touch sensing unit 30 is in communication with the identification unit 31, and is structured to sense the user's finger touch when the user wants to operate the robotic arm 2 and directly touch the touch sensing unit 30 with his finger. For example, the position of each finger on the touch sensing unit 30, the force applied by the finger, and / or the length of the touch time of the finger are transmitted to the recognition unit 31. The recognition unit 31 is in communication with the teaching unit 32 and is configured to recognize according to the sensing result of the touch sensing unit 30 to recognize the touch information of the user's finger on the touch sensing unit 30, and The recognition result is transmitted to the teaching unit 32. The teaching unit 3 is in communication with the display unit 33 and the robot arm system 1, and is structured to drive the robot arm system 1 to perform corresponding operations according to the user's touch information transmitted from the identification unit 31. The display unit 33 is configured to display an operation result of the robot arm system 1, so that a user can judge whether the operation of the robot arm system 1 is successful according to the display unit 33.

In some embodiments, as shown in FIG. 2, the gesture teaching device 3 may be an external gesture teaching device, which is externally attached to the end of the robot arm 2, and the recognition unit 31 and the teaching unit 32 are provided for gesture teaching. The inside of the device 3 (there is no illustration in FIG. 2), and the touch sensing unit 30 and the display unit 33 are exposed to the gesture teaching device 3. However, in other embodiments, as shown in FIG. 4, the gesture teaching device 3 may also be an embedded gesture teaching device, which is partially embedded in the robot arm 2, and the gesture teaching device 3 of the embodiment shown in FIG. 4 The circuit structure is exactly as shown in Figure 2. In addition, the identification unit 31, the teaching unit 32, and the display unit 33 can be integrated into an integrated unit 35 and partially embedded in the robot arm 2. Only the display unit 33 can be exposed to the machine. The arm 2, in addition, the touch sensing unit 30 is also exposed at the end of the robot arm 2 because it needs to sense the touch condition of the user's finger.

Please refer to FIG. 1 again. The teaching method of the robot arm operation shown in FIG. 1 can be applied to the robot arm system 1 shown in FIG. 2, and the robot arm system 1 shown in FIG. 4 can also be applied. The following uses the robot arm system 1 shown in FIG. 2 as an example for illustration. The method for teaching the movement of the robotic arm first executes step S1, that is, when the user operates the robotic arm 2 and directly touches his / her finger to the touch sensing unit 30, the touch sensing unit 30 is used to sense the user's finger touch. Next, step S2 is executed to transmit the sensing result of the touch sensing unit 30 to the recognition unit 31, so that the recognition unit 31 recognizes the touch information of the user's finger on the touch sensing unit 30. Then, step S3 is executed to send the touch information of the user's finger recognized by the recognition unit 31 to the teaching unit 32, so that the teaching unit 32 drives the robot arm system 1 to perform corresponding operations according to the touch information of the user's finger. Finally, step S4 is executed to display the operation result of the robot arm system 1 through the display unit 33, so that the user can use the display unit 33 to judge whether the operation of the robot arm system 1 is successful.

In the above embodiment, since the gesture teaching device 3 is provided on the robot arm 2, the robot arm 2 and the gesture teaching device 3 are in a linked state. Therefore, in step S1, when the user wants to operate the robot arm 2, such as moving a machine In the case of the arm 2, the finger can be placed on the touch sensing unit 30 of the gesture teaching device 3 and applied to the touch sensing unit 30, thereby moving the robot arm 2, and at the same time, the touch sensing unit 30 can sense The user's finger touch was detected. In addition, the recognition unit 31 of the gesture teaching device 3 may have a built-in touch-control integration in advance, wherein the touch-control integration is composed of a plurality of different touch-control integrations. Therefore, in step S2, the recognition unit 31 has The touch information of the user's finger on the touch sensing unit 30 is identified according to the touch condition of the user's finger and integrated with reference to the control touch condition. In addition, the teaching unit 32 also has a built-in motion command integration corresponding to the control touch condition integration, wherein the motion command integration is composed of a plurality of different motion commands, and each motion command is related to a specific control touch condition. Correspondingly, in step S3, the teaching unit 32 drives the robot arm system 1 to perform corresponding operations according to the touch information of the user's finger and referring to the integration of motion instructions.

In some embodiments, the touch sensing unit 30 may be composed of a tactile sensor. The tactile sensor may preferably be printed on a flexible circuit board, so it can be integrated on the robot arm 2 with various installation methods. . The identification unit 31 may be composed of a circuit (such as a signal amplifier circuit and a sampling circuit), an algorithm, software, and a microcontroller (Microcontroller). The algorithm is written in software and executed on the microcontroller. The network transmits data to the teaching unit 32. The actual composition and application of the teaching unit 32 is executed by a set of software on a microcontroller, and the action instructions are transmitted to the robot arm 2 through the Ethernet network, so that the robot arm 2 can perform linear movements or points. Actions such as end-to-end movement, recording of point data transport, writing applications, etc., and transmitting the execution results of the motion instructions to the display unit 33 to display success or failure. The display unit 33 may be composed of a plurality of light emitting elements capable of emitting different colors, and the display unit 33 may emit different colors of light to display whether the operation of the robot arm system 1 is successful in step S3. For example, the display unit 33 may be green and red. Is composed of two LED lights, when the display unit 33 emits a red light to indicate that the operation of the robot arm system 1 in step S3 is unsuccessful, and when the display unit 33 emits a green light to indicate that the operation system of the robot arm system 1 in step S3 is successful Therefore, the display unit 33 can receive the IO signal output by the teaching unit 32, and correspondingly control the green or red LED to blink, thereby letting the user know whether the operation of touching the teaching robot arm system 1 is successful or failed. Of course, the display unit 33 can also be composed of a single light-emitting element, so whether the operation of the robot arm system 1 is successful in step S3 can be displayed by turning on or off the display unit 33, so the user can use the display unit 33 to read . The structural features and operations of the display unit 33 described above are merely examples, and are not limited thereto. The structure of the display unit 33 may be designed according to actual needs.

The following will exemplarily illustrate each of the comparison touch situations integrated in the comparison touch situation built in the recognition unit 31 of the gesture teaching device 3 and the action instructions corresponding to each comparison touch situation using FIGS. 5-12. . Please refer to FIG. 5, which is a schematic diagram of the first control gesture of a robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 5, the first touch-control situation in the integration of the touch-control situation of the identification unit 31 is that the user clicks on the touch-sensing unit 30 with a single finger, and the click time is within a first time. , And the first type of motion control instruction corresponding to the touch situation is that the robot arm system 1 executes the instruction of memorizing the current position of the robot arm 2 after the user moves the robot arm 2, so when the recognition unit 31 recognizes in step S2 When the state of the user's finger touching the touch sensing unit 30 belongs to the first touch control situation in the touch control situation integration, in step S3, the teaching unit 32 drives the robot arm system 1 to execute the memory mechanism. Command of the current point of Arm 2.

As shown in FIG. 5, when the user clicks and touches the sensing unit 30 with a single finger, and the duration of the click exceeds a second time, the second type of touch control in the touch control status integration of the recognition unit 31 is included. In the case of a touch situation, the action command corresponding to the second type of touch situation is a command for the robot arm system 1 to confirm and write an application program, wherein the application program is programmed with the points that the robot arm 2 needs to move, and the machine The movement mode of the arm 2 when it moves, such as a linear movement mode or a curved movement mode. Therefore, in step S2, the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 belongs to the integration of the control touch condition. In the second case of comparing the touch conditions, in step S3, the teaching unit 32 drives the robot arm system 1 to execute an instruction for confirming and writing the application program. In some embodiments, the duration of the second time is greater than or equal to the duration of the first time.

Please refer to FIG. 6, which is a schematic diagram of the second control gesture of the robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 6, the third comparison touch situation in the integration of the comparison touch situation of the recognition unit 31 is that the user holds the touch sensing unit 30 with two fingers separated and faces upward on the touch sensing unit 30. The first direction (such as the arrow direction shown in Fig. 6) is rotated horizontally, and the action command corresponding to the third control touch condition is executed by the robot arm system 1 to select the robot arm 2 to operate in the linear motion mode. In step S2, when the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 belongs to the third comparison touch situation in the comparison of the touch situation, then in step S3, the teaching unit 32 is The robot arm system 1 is driven to execute a command for selecting the robot arm 2 to operate in a linear motion mode.

Please refer to FIG. 7, which is a schematic diagram of the third control gesture of the robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 7, the fourth comparison touch situation in the integration of the comparison touch situation of the recognition unit 31 is that the user holds the touch sensing unit 30 with two fingers separated and faces upward on the touch sensing unit 30. The second direction (such as the arrow direction shown in Figure 7) rotates horizontally, and the corresponding motion command corresponding to the fourth touch control situation is executed by the robot arm system 1 to select the robot arm 2 to operate in the curve motion mode. In step S2, when the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 belongs to the fourth type of comparison touch condition in the comparison of the touch conditions, the teaching unit 32 is in step S3. The robotic arm system 1 is driven to execute an instruction for selecting the robotic arm 2 to operate in a curved motion mode.

Please refer to FIG. 8, which is a schematic diagram of the fourth control gesture of the robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 8, the fifth control touch condition in the integration of the control touch condition of the recognition unit 31 is that the user holds the touch sensing unit 30 with five fingers, and applies a specific direction on the sensing unit 30. And the force is greater than a first pressure. This fifth kind of control touch indicates that the user is operating the robot arm 2 in a teaching manner directly through the hand, and corresponds to the fifth kind of motion command that controls the touch. The robot arm system 1 executes a command to control the robot arm 2 to move in accordance with the direction in which the user moves the robot arm 2. Therefore, in step S2, the recognition unit 31 recognizes the state of the user's finger touching the touch sensing unit 30. When it belongs to the fifth control touch condition in the control touch condition integration, in step S3, the teaching unit 32 drives the robot arm system 1 to control the robot arm 2 to move in accordance with the direction in which the user moves the robot arm 2 Of instructions.

As shown in FIG. 8, when the user holds the touch sensing unit 30 with five fingers, and the pressure of pressing any one of the five fingers is less than a second pressure, the touch condition integration of the recognition unit 31 is included. The sixth kind of touch control situation, this sixth kind of touch control situation represents that the user wants to control the robot arm 2 to stop moving, and the action command corresponding to the sixth kind of touch control situation is for the robot arm system 1 to stop the robotic arm. 2 the movement instruction, so when the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 in step S2 belongs to the sixth kind of control touch condition in the control touch condition integration, then in step In S3, the teaching unit 32 drives the robot arm system 1 to execute a command to stop the movement of the robot arm 2. In some embodiments, the pressure value of the first pressure is greater than or equal to the pressure value of the second pressure.

Please refer to FIG. 9, which is a schematic diagram of the fifth control gesture of the robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 9, the seventh comparison touch situation in the integration of the comparison touch situation of the recognition unit 31 is that the user touches the sensing unit 30 with a two-finger merging method, and faces upward on the touch sensing unit 30. The third direction (the direction of the arrow shown in FIG. 9) slides horizontally, and the action command corresponding to the seventh type of touch control situation is the command that the robot arm system 1 returns to the previous execution, so when the recognition unit 31 recognizes in step S2 When the state of the user ’s finger touching the touch sensing unit 30 belongs to the seventh type of touch control in the touch control case integration, in step S3, the teaching unit 32 drives the robot arm system 1 before returning An executed instruction.

Please refer to FIG. 10, which is a schematic diagram of the sixth control gesture of the robot arm teaching the robot arm system shown in FIG. As shown in FIG. 9, the eighth type of control touch condition in the integration of the control touch condition of the recognition unit 31 is that the user touches the sensing unit 30 with a two-finger merging method, and faces upward on the touch sensing unit 30. The fourth direction (the direction of the arrow shown in FIG. 10) slides horizontally, and the action command corresponding to the eighth control touch condition is the command that the robot arm system 1 jumps to the next execution, so when the identification unit 31 in step S2 When it is recognized that the state of the user's finger touching the touch sensing unit 30 belongs to the eighth type of touch control in the touch control case integration, in step S3, the teaching unit 32 drives the robot arm system 1 to jump Go to the next instruction executed.

Please refer to FIG. 11, which is a schematic diagram of the seventh control gesture of the robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 11, in other embodiments, the robot arm system 1 may further include a gripper 4, which is disposed below the touch sensing unit 30 of the gesture teaching device 3 and is driven by the robot arm 2. The opening action or the closing action, and as shown in FIG. 11, the ninth control touch condition in the integration of the control touch condition of the recognition unit 31 is that the user first touches the touch sensing unit by combining two fingers. 30, and the merged two fingers slide on the touch sensing unit 30 in a direction away from each other to form a two-finger separated form, and the ninth action command corresponding to the touch condition is executed by the robot arm system 1 The instruction to control the robot arm 2 to open the gripper 4, so when the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 in step S2 belongs to the ninth control touch in the integration of the touch conditions In this case, in step S3, the teaching unit 32 drives the robot arm system 1 to execute an instruction to control the robot arm 2 to open the gripper 4.

Please refer to FIG. 12, which is a schematic diagram of the eighth control gesture of a robot arm teaching the robot arm system shown in FIG. 2. As shown in FIG. 12, the tenth control touch condition in the integration of the control touch condition of the recognition unit 31 is that the user first touches the touch sensing unit 30 with two fingers separated, and the two separated fingers are touching The sensing unit 30 slides toward each other to form a combination of two fingers, and the tenth action command corresponding to the touch condition is a command for the robot arm system 1 to control the robot arm 2 to close the gripper 4 Therefore, when the recognition unit 31 recognizes that the state of the user's finger touching the touch sensing unit 30 in step S2 belongs to the tenth comparison touch situation in the comparison of the touch situation, then in step S3, teach The unit 32 drives the robotic arm system 1 to execute an instruction to control the robotic arm 2 to close the gripper 4.

Of course, the multiple touch control situations in the touch control situation integration and the actions corresponding to each control touch situation are not limited to the above-mentioned situation, but can be based on actual needs and user habits. Change the integration with the touch condition and the integration of motion instructions.

In some embodiments, after the steps shown in FIG. 1 are sequentially executed from step S1 to step S4, step S1 to step S4 can be performed again. By repeating the above steps, the user can The robotic arm 2 of the arm system 1 teaches different actions. For example, when the user wants to automatically move the robotic arm 2 from a starting position to a specific position in a linear manner, the user can use the state shown in FIG. 8 to perform the action shown in FIG. 1 for the first time. Teaching method, that is, the user first holds the touch sensing unit 30 with five fingers, and applies a force in a specific direction and greater than the first pressure on the sensing unit 30, so that the teaching unit 32 drives the robot arm system 1 to control the robot arm 2 Move from the initial position in the direction that the user moves the robot arm 2. Then, when the robot arm 2 has moved to the specific position, the action teaching method shown in FIG. 1 can be performed for the second time, that is, the touch sensing unit 30 is held with five fingers, and any one of the five fingers is held The force is less than the second pressure, so that the teaching unit 32 drives the robot arm system 1 to stop the robot arm 2 from moving. Then, the user can use the state shown in FIG. 5 and execute the action teaching method shown in FIG. 1 for the third time, that is, the user touches the sensing unit 30 with a single finger, and the time of the click is within the first time. Within a time, the teaching unit 32 is caused to drive the robotic arm system 1 to execute the memory of the current position of the robotic arm 2, that is, the position of the specific position. Then, the user can use the state shown in FIG. 6 to perform the action teaching method shown in FIG. 1 for the fourth time, that is, the user holds the touch sensing unit 30 with two fingers apart and horizontally faces the first direction. By rotating, the teaching unit 32 drives the robot arm system 1 to select the robot arm 2 to operate in the linear motion mode. Finally, the action teaching method shown in FIG. 1 can be executed for the fifth time, that is, the user clicks and touches the sensing unit 30 with a single finger, so that the teaching unit 32 drives the robotic arm system 1 to execute the instruction for confirming and writing the application program. In this way, the robot arm can be moved, taught and written, and the robot arm can be automatically moved according to the user's intention.

To sum up, this case is a method for teaching a robotic arm motion and a suitable gesture teaching device. The method teaches a robotic arm by directly touching a user's hand with a gesture teaching device provided on a robotic arm of a robotic arm system. During the corresponding operation, the gesture teaching device is used to sense the touch condition of the user's finger, thereby allowing the user to perform intuitive operations on the robot arm system. Therefore, the user does not need to use an additional teaching device or computer software. In this case, the three steps of moving the robotic arm, teaching the robotic arm, and writing an application program can be integrated directly by touching the gesture teaching device. Therefore, the method of teaching robotic arm movements in this case is more flexible and intuitive for the user.

1‧‧‧ robotic arm system

2‧‧‧ robotic arm

3‧‧‧ Gesture Teaching Device

30‧‧‧ touch sensing unit

31‧‧‧Identification Unit

32‧‧‧Teaching Unit

33‧‧‧Display Unit

35‧‧‧Integration unit

S1 ~ S4‧‧‧ Steps of teaching method

4‧‧‧Jaw

FIG. 1 is a schematic flowchart of a method for teaching a robot arm to operate according to a preferred embodiment of the present invention. FIG. 2 is a schematic structural diagram of a robot arm system applicable to the teaching method of the movement of the robot arm shown in FIG. 1. FIG. 3 is a schematic circuit block diagram of the gesture teaching device shown in FIG. 2. FIG. 4 is a schematic structural diagram of another modified example of the robot arm system shown in FIG. 2. FIG. 5 is a schematic diagram of the first control gesture of a robot arm teaching the robot arm system shown in FIG. 2. FIG. 6 is a schematic diagram of the second control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 7 is a schematic diagram of the third control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 8 is a schematic diagram of the fourth control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 9 is a schematic diagram of the fifth control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 10 is a schematic diagram of the sixth control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 11 is a schematic diagram of the seventh control gesture of the robot arm teaching the robot arm system shown in FIG. 2. FIG. 12 is a schematic diagram of the eighth control gesture of a robot arm teaching the robot arm system shown in FIG. 2.

Claims (17)

An actuation teaching method is to teach the robotic arm to act through a gesture teaching device provided on a robotic arm of a robotic arm system. The actuation teaching method includes: (a) a user directly operates a finger on the robotic arm When the touch sensing unit of one of the gesture teaching devices is contacted, the touch sensing unit is used to sense the user's finger touch; (b) the sensing result of the touch sensing unit is transmitted to the gesture teaching device A recognition unit, so that the recognition unit recognizes touch information of a user's finger on the touch sensing unit; and (c) transmitting touch information of the user's finger recognized by the recognition unit to the gesture A teaching unit of the teaching device, so that the teaching unit drives the robot arm system to perform corresponding operations according to the information of the user's gesture; and (d) the operation result of the robot arm system through a display unit of the gesture teaching device Display, so that the user can judge whether the operation of the robot arm system is successful or not according to the display unit. The action teaching method as described in item 1 of the scope of patent application, wherein the recognition unit is integrated with a built-in touch control situation, and in step (b), the recognition unit is based on a user's finger touch situation and refers to The control touch condition is integrated to identify touch information of a user's finger on the touch sensing unit. The action teaching method as described in item 2 of the scope of patent application, wherein the teaching unit is a built-in action instruction integration corresponding to the integration of the touch condition, and in step (c), the teaching unit is based on the user Touch information of the finger and refer to the action instruction integration to drive the robot arm system to perform corresponding operations. The action teaching method as described in item 3 of the patent application scope, wherein the action instruction integration includes the robot arm system executing a command memorizing the current position of the robot arm after the user moves the robot arm, and when step (b When the recognition unit recognizes that the state of the user's finger touching the touch sensing unit belongs to the first type of comparison touch condition in the comparison of the touch condition integration, in step (c), the The teaching unit drives the robot arm system to execute an instruction for memorizing the current position of the robot arm. The action teaching method according to item 3 of the scope of patent application, wherein the action instruction integration includes the robot arm system executing a command for confirming and writing an application program, and the application program is programmed with a point that the robot arm needs to move. , And the motion mode of the robot arm when it moves, and when the recognition unit recognizes that the state of the user's finger touching the touch sensing unit in step (b) belongs to the second one of the control touch condition integration In the case of comparing touch conditions, in step (c), the teaching unit drives the robot arm system to execute a command for confirming the application program. The action teaching method according to item 3 of the scope of patent application, wherein the robot arm moves in a straight line in a linear motion mode, and the action instruction integration includes the robot arm system executing and selecting the robot arm to operate in the linear motion mode. When the recognition unit recognizes that the state of the user's finger touching the touch sensing unit in step (b) belongs to the third control touch condition in the control touch condition integration, then In step (c), the teaching unit drives the robot arm system to execute an instruction for selecting the robot arm to operate in the linear motion mode. The action teaching method according to item 3 of the scope of patent application, wherein the robot arm moves in a curve in a curve motion mode, and the action instruction integration includes the robot arm system executing and selecting the robot arm to operate in the curve motion Mode command, and when the recognition unit recognizes that the state of the user's finger touching the touch sensing unit in step (b) belongs to the fourth type of control touch condition integration in the control touch condition integration, Then, in step (c), the teaching unit drives the robot arm system to execute an instruction for selecting the robot arm to operate in the curved motion mode. The action teaching method according to item 3 of the scope of patent application, wherein the action instruction integration includes the robot arm system executing an instruction to control the robot arm to move in accordance with the direction in which the user moves the robot arm, and when step (b) When the recognition unit recognizes that the state of the user's finger touching the touch sensing unit belongs to the fifth type of control touch condition integration in the control touch condition integration, in step (c), the teaching The unit system drives the robot arm system to execute a command for controlling the robot arm to move in accordance with the direction in which the user moves the robot arm. The action teaching method according to item 3 of the patent application scope, wherein the action instruction integration includes the robot arm system executing an instruction to stop the movement of the robot arm, and when the recognition unit recognizes the user's finger touch in step (b) When the state of touching the touch sensing unit belongs to one of the control touch case integration sixth sixth touch case, then in step (c), the teaching unit drives the robot arm system to stop the machine. Instructions for arm movement. The action teaching method as described in item 3 of the scope of patent application, wherein the action instruction integration includes the robot arm system skipping to the next execution instruction, and when the recognition unit recognizes the user's finger touch in step (b) When the state of the touch sensing unit belongs to one of the eighth control touch conditions in the control touch condition integration, then in step (c), the teaching unit drives the robot arm system to jump to the next execution Instructions. According to the action teaching method described in item 3 of the patent application scope, wherein the robot arm system may further include a gripper, which is arranged below the touch sensing unit, and is opened by the robot arm Or closed action. The action teaching method according to item 11 of the patent application scope, wherein the action instruction integration includes the robot arm system executing an instruction to control the robot arm to open the gripper, and when the recognition unit recognizes the user in step (b) When the gesture belongs to the ninth control gesture in the control gesture integration, in step (c), the teaching unit drives the robot arm system to execute an instruction to control the robot arm to open the gripper. The action teaching method according to item 11 of the patent application scope, wherein the action instruction integration includes the robot arm system executing an instruction to control the robot arm to close the gripper, and when the recognition unit recognizes the user in step (b) When the gesture belongs to the tenth control gesture in the control gesture integration, in step (c), the teaching unit drives the robot arm system to execute an instruction to control the robot arm to close the gripper. A gesture teaching device for use in the teaching method described in any one of claims 1-13, wherein the touch sensing unit is in communication with the recognition unit; the teaching unit is in communication with the recognition unit and The robot arm system is in communication; and the display unit is in communication with the teaching unit. The gesture teaching device according to item 14 of the application, wherein the gesture teaching device is an embedded gesture teaching device and is partially embedded in the robot arm. The gesture teaching device according to item 14 of the scope of patent application, wherein the gesture teaching device is an external gesture teaching device and is externally attached to the robot arm. The gesture teaching device according to item 14 of the scope of patent application, wherein the touch sensing unit is composed of a tactile sensor, and when a user directly touches the touch sensing unit with a finger, the touch sensing unit The position of each finger on the touch sensing unit, the amount of force applied by the finger, and / or the length of time the finger touched.