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WO2022100648A1 - Système de robot industriel, procédé d'enseignement et support de stockage - Google Patents

Système de robot industriel, procédé d'enseignement et support de stockage Download PDF

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Publication number
WO2022100648A1
WO2022100648A1 PCT/CN2021/130001 CN2021130001W WO2022100648A1 WO 2022100648 A1 WO2022100648 A1 WO 2022100648A1 CN 2021130001 W CN2021130001 W CN 2021130001W WO 2022100648 A1 WO2022100648 A1 WO 2022100648A1
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WO
WIPO (PCT)
Prior art keywords
industrial robot
pose
operating device
robot
installation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/130001
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English (en)
Chinese (zh)
Inventor
孙恺
王珂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Elite Robot Co Ltd
Original Assignee
Suzhou Elite Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202022634904.3U external-priority patent/CN214025708U/zh
Priority claimed from CN202011267432.0A external-priority patent/CN114474011B/zh
Application filed by Suzhou Elite Robot Co Ltd filed Critical Suzhou Elite Robot Co Ltd
Publication of WO2022100648A1 publication Critical patent/WO2022100648A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the present invention relates to the field of robots, in particular to an industrial robot system, a teaching method and a storage medium.
  • Industrial robots are a class of robots that are widely used in industrial environments. They are usually taught by users to perform predetermined tasks. Common teaching methods include dragging and teaching the robotic arm, or demonstrating the robotic arm through an operating device. teach.
  • industrial robots can be used to combine with AGV trolleys to realize factory spraying Disinfection work, under complex and diverse use environments, needs to be improved for the convenience of teaching.
  • user fields of industrial robots are widely distributed, and simple and easy-to-use teaching is a common requirement for users in all walks of life.
  • the purpose of the present invention is to provide an industrial robot system, a teaching method and a storage medium that are easy to use, simple to teach, and intuitive.
  • an industrial robot system including an industrial robot, an operation device, and the operation device can teach the motion of the industrial robot according to a user's manipulation, and the operation device includes a manipulation part and a The first posture sensor and/or the first orientation sensor of the posture of the operating device;
  • the industrial robot includes: an acquisition module for acquiring the installation posture of the industrial robot; a control module for The installation pose and the pose of the operating device generate motion instructions of the robot, and the motion instructions make the industrial robot move based on the guiding direction of the operating device.
  • the obtaining module includes a second pose sensor and/or a second orientation sensor to obtain the installation pose of the industrial robot.
  • the obtaining module is configured to obtain the installation pose of the industrial robot according to the user's input.
  • the industrial robot can be installed on a moving object to perform work, and the acquiring module can communicate with the moving object to acquire the installation posture of the industrial robot.
  • the industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture and posture of the moving object, and the moving object includes a mobile platform or a positioner.
  • the industrial robot can acquire the robot pose, and the control module generates motion instructions according to the robot pose, the installation pose of the industrial robot, and the operating device pose.
  • control module is used to reconstruct the coordinate system, so that the installation pose, the robot pose, and the operating device pose are in the same coordinate system.
  • the operating device can be detachably connected to the industrial robot.
  • manipulation part and the first attitude sensor and/or the first orientation sensor are detachably connected into one body.
  • manipulation portion is configured as a 2D, 3D or 6D mouse, and/or the manipulation portion includes a joystick or a manipulation button.
  • the industrial robot system includes a teach pendant, and the teach pendant includes the operating device.
  • the industrial robot is formed as a three-axis, four-axis, or six-axis robotic arm, or the industrial robot is formed as a collaborative robot.
  • the generating the motion instruction of the robot according to the installation pose of the industrial robot and the pose of the operating device includes: acquiring a user's manipulation instruction for the operating device, and according to the installation pose of the industrial robot and the position of the operating device.
  • the pose determines the relative pose of the operating device and the industrial robot, and generates a motion instruction of the robot according to the manipulation instruction and the relative pose.
  • the manipulation instruction includes guidance information for the movement direction of the industrial robot.
  • control module is used to determine the relative pose of the operating device and the industrial robot after converting the installation pose of the industrial robot and the pose of the operating device to the same coordinate system.
  • the industrial robot includes the control module, and the control module is used to convert the pose of the operating device and the installation pose of the industrial robot to the coordinate system of the industrial robot; or, the operating device includes the control The control module is used for converting the pose of the operating device and the installation pose of the industrial robot to the coordinate system of the operating device.
  • the motion instruction is generated based on the coordinate system of the robot or based on the coordinate system of the operating device.
  • control module is configured to convert the motion instruction to the coordinate system of the robot, and the industrial robot performs motion based on the converted motion instruction.
  • the coordinate system of the robot includes a robot base coordinate system, a user coordinate system or a tool coordinate system.
  • a teaching method for an industrial robot system applicable to any of the above-mentioned industrial robot systems, the teaching method includes: acquiring the installation posture of the industrial robot; detecting the position of the operating device pose; the motion instruction of the robot is generated according to the installation pose of the industrial robot and the pose of the operating device, and the motion instruction makes the industrial robot move based on the guiding direction of the operating device.
  • the teaching method includes: acquiring the installation pose of the industrial robot through a second pose sensor and/or a second orientation sensor of the industrial robot.
  • the teaching method includes: acquiring the installation pose of the industrial robot based on the world coordinate system.
  • the teaching method includes: acquiring the installation pose of the industrial robot according to the user's input.
  • the industrial robot can be installed on a moving object, and the teaching method includes: communicating with the moving object to obtain the installation posture of the industrial robot.
  • the industrial robot can be installed on a moving object, and the installation posture changes with the posture and posture of the moving object.
  • the teaching method includes: acquiring the pose of the robot, and generating motion instructions according to the pose of the robot, the installation pose of the industrial robot, and the pose of the operating device.
  • the teaching method includes: reconstructing the coordinate system, so that the installation posture of the industrial robot, the posture of the robot and the posture of the operating device are in the same coordinate system.
  • the generating the motion instruction of the robot according to the installation pose of the industrial robot and the pose of the operating device includes: acquiring a manipulation instruction for the operating device, and according to the installation pose of the industrial robot and the pose of the operating device.
  • the relative pose of the operating device and the industrial robot is determined, and the motion instruction of the robot is generated according to the manipulation instruction and the relative pose.
  • the manipulation instruction includes guidance information for the movement direction of the industrial robot.
  • the determining the relative pose of the operating device and the industrial robot includes: determining the relative pose of the operating device and the industrial robot after converting the installation pose of the industrial robot and the pose of the operating device to the same coordinate system.
  • the motion instruction is generated based on the coordinate system of the robot or based on the coordinate system of the operating device.
  • the teaching method includes: executing the motion after converting the motion instruction to the coordinate system of the robot.
  • the present invention can also adopt the following technical solutions: a computer-readable storage medium storing a computer program, and when the computer program is executed, any one of the aforementioned methods is implemented.
  • the beneficial effects of the specific embodiments of the present invention are: through the pose of the operating device and the pose of the industrial robot, based on the processing of the relative relationship between the two, the operation of the robot follows the guidance of the operating device, so that The teaching of industrial robots is more intuitive and does not require complex transformations by the human brain, reducing the difficulty of teaching and the probability of errors.
  • it can be applied to work tasks in a variety of scenarios, adapt to various installation postures of robots and arbitrary posture changes of robots and operating equipment, and can respond in time to changes in the installation posture of industrial robots, and always ensure that the robot displays Intuitiveness of teaching.
  • FIG. 1 is a schematic diagram of an industrial robot system according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an industrial robot installed on a moving object according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an industrial robot system teaching method according to an embodiment of the present invention.
  • FIG. 1 exemplarily shows a schematic diagram of an industrial robot system according to an embodiment of the present invention.
  • the industrial robot system 100 includes an industrial robot 1 and an operation device 3.
  • the operation device 3. The motion of the industrial robot can be taught according to the manipulation of the user, and the operating device 3 includes a manipulation part 31, which is operated by the user to teach the industrial robot, and a first posture sensor for determining the posture of the manipulation device and/or The first orientation sensor 32 .
  • the industrial robot 1 system includes an acquisition module for acquiring the installation posture of the industrial robot 1; and a control module for generating motion instructions according to the installation posture of the robot and the posture of the operating device, and the motion instructions make the industrial robot 1.
  • the robot 1 moves based on the guiding direction of the operating device 3.
  • the motion instruction can instruct the end of the industrial robot to move based on the direction guided by the operating device.
  • the end of the industrial robot is the end of the industrial robot connected to the work tool.
  • the motion instruction Make the end of the robot move in the direction guided by the operating device.
  • the motion command can also instruct other parts of the robot to follow the guiding direction of the operating device, for example, to control the joint rotation direction of the robot.
  • the acquisition module is used to acquire the installation posture of the industrial robot 1 in the world coordinate system.
  • the installation posture of the traditional industrial robot does not change during the working process. At this time, it is necessary to ensure the movement direction of the robot and the teaching of the operating equipment. There is no need to pay attention to the installation posture of the robot if the direction is consistent.
  • the teaching of the operation device 3 in order to make the teaching of the operation device 3 adapt to the change of the installation posture, it is necessary to consider the installation posture of the robot 1 and the posture of the operation device 3. To generate motion instructions, it is necessary to comprehensively consider the relative relationship between the robot's installation pose and the operating device pose to generate motion instructions.
  • the motion direction of the industrial robot 1 can be consistent with the teaching direction of the operating device, and the operation is more intuitive and less error-prone.
  • the motion instruction makes the end of the industrial robot 1 move based on the guiding direction of the operating device 3, that is, the guiding direction of the operating device 3 is consistent with the moving direction of the end of the industrial robot 1, no matter what the operating device 3 adopts Depending on the posture, or the function definitions of different buttons of the operation device are different, the movement direction of the industrial robot 1 is always consistent with the operation direction of the operation device.
  • the industrial robot 1 can be installed on a moving object to perform work, and the moving object exemplarily includes a mobile platform or a positioner, and the installation posture changes with the change in the posture and posture of the moving object.
  • the moving object 2 shown in Figure 2 is a positioner.
  • the installation position of the industrial robot 1 also changes accordingly.
  • the industrial robot generates motion instructions according to the real-time updated installation pose to ensure the intuitiveness of the teaching of the industrial robot.
  • generating the motion instruction of the robot according to the installation pose of the industrial robot and the pose of the operating device includes: acquiring a user's manipulation instruction on the operating device, and according to the installation pose of the industrial robot and the operating device's motion instruction The pose determines the relative pose of the operating device and the industrial robot, and generates the motion instruction of the robot according to the manipulation instruction and the relative pose. That is, the user's manipulation instruction on the operating device is obtained.
  • the manipulation instruction includes guidance information on the movement direction of the industrial robot, and the poses of the two are converted based on the installation pose of the robot and the pose of the operating device.
  • the industrial robot includes the control module or the operating device includes the control module, in a specific embodiment, the industrial robot includes a control module, specifically, the control module may be formed in A control box for an industrial robot, wherein the control module is used to convert the installation pose of the industrial robot and the pose of the operating device to the same coordinate system to determine the relative pose of the operating device and the industrial robot; or, the operating device includes The control module is used for converting the pose of the operating device and the installation pose of the industrial robot to the coordinate system of the operating device.
  • the pose of the operating equipment is usually based on the information of the coordinate system of the operating equipment, and the installation pose of the industrial robot is usually based on the information of the coordinate system of the robot.
  • the conversion makes the operation mode of the robot more intuitive, the real-time performance of data acquisition is better, and the response is more efficient.
  • the guidance information of the operating device's perspective on the motion direction of the industrial robot can be determined, and then a motion command can be generated based on the relative posture and the manipulation command.
  • the motion instruction is generated based on the coordinate system of the operating device.
  • the motion instruction is converted to the coordinate system of the robot to execute the motion.
  • the motion instructions are transformed into coordinates based on the robot coordinate system and sent to the industrial robot to make the robot perform motion.
  • the acquisition module used by the industrial robot 1 to acquire the installation posture includes various forms.
  • the acquisition module includes a second posture sensor and/or a second orientation sensor to acquire the installation posture of the industrial robot 1.
  • the installation posture of 1 is the installation posture of the robot in the world coordinate system.
  • the second posture sensor and/or the second orientation sensor may be formed on the base of the industrial robot to obtain the installation posture of the industrial robot;
  • the acquisition module may acquire the installation posture of the industrial robot 1 through communication, for example, the installation posture of the robot inputted by the user, and the acquisition module acquires the installation posture of the robot input by the user; or, the industrial robot provided by the present invention 1 can be installed on a moving object to perform work, and the acquisition module can communicate with the moving object to obtain the installation pose of the industrial robot 1, for example, the moving object can detect the installation pose of the robot's base 11 and communicate to transmit it to the industrial robot 1.
  • the installation posture of the base 11 of the robot can represent the installation posture of the robot.
  • the installation pose of the industrial robot 1 can be expressed based on the pose information of the world coordinate system, and the pose of the operating device can also be expressed based on the pose information of the world coordinate system.
  • the movement direction of the end of the robot is based on the manipulation direction of the operation device, and it is necessary to know the operation direction of the end of the operation device 3 relative to the industrial robot 1 .
  • the industrial robot 1 can obtain the pose of the robot, and the control module generates motion instructions according to the robot pose, the installation pose of the robot, and the pose of the operating device, so that the end of the industrial robot 1 moves based on the direction taught by the operating device.
  • the operation device 3 can be in different positions and different postures. Obtain the relative pose of the robot and the operating device, so that the operation of the operating device is the same as the movement direction of the industrial robot 1, and is not affected by the pose of the operating device itself. For example, when the operating device is placed upright or reversed, the operating device The positions of the left and right manipulation buttons change, but when they are manipulated, the left manipulation of the operating device always corresponds to the leftward movement of the industrial robot 1 .
  • the installation pose of the industrial robot 1 changes, for example, when the robot is located on the moving object 2, such as when the robot is located on the positioner, the installation pose of the robot changes, but the robot's pose is relative to the robot coordinate system In other words, the pose of the robot cannot reflect the changes in the installation pose of the robot, thus affecting the intuitiveness of the teaching operation.
  • the problem of unintuitive teaching operation can be solved by comprehensively considering the robot pose, the robot installation pose, and the operation device pose to generate the motion instruction.
  • the control module is used to reconstruct the coordinate system, so that the installation pose, the robot pose and the operating device pose are in the same coordinate system.
  • the robot is intuitively taught, that is, no matter how the installation posture of the robot and the posture of the robot itself change, the manipulation direction of the operating device is consistent with the movement direction of the robot, without the need for the human brain to convert and think about the manipulation direction.
  • the operating device includes various forms.
  • the operating device 3 can be detachably connected to the industrial robot 1.
  • the operating device is installed on the industrial robot 1.
  • the operation device 3 includes an installation part
  • the industrial robot 1 includes a accommodating part
  • the installation part of the operation device 3 cooperates with the accommodating part of the industrial robot 1 to detachably install the operation device to the industrial robot.
  • Robot 1 exemplarily, the accommodating part is a slide rail structure
  • the installation part can be slidably installed on the industrial robot 1
  • the user can teach the industrial robot 1 to perform work by manipulating the operating device. For example, the user can drag and drop the robot 1.
  • an operating device, and keys of the operating device are manipulated to perform teaching on the industrial robot 1 .
  • the operation device includes a manipulation part and a first attitude sensor and/or a first orientation sensor, and the manipulation part and the first attitude sensor and/or the first orientation sensor are detachably connected to the one.
  • the manipulation portion is configured as a 2D, 3D or 6D mouse, and/or the manipulation portion includes a joystick or a manipulation button.
  • the industrial robot 1 system 100 includes a teach pendant, and the teach pendant includes the operation device, that is, the operation device is formed as a part of or all of the teach pendant.
  • the operating device described above is a teach pendant.
  • the industrial robot system 100 protected by the present invention includes an industrial robot, and the industrial robot may be a three-axis, four-axis or six-axis robotic arm, or the industrial robot is a collaborative robot, and further, the collaborative robot is a six-axis robot Collaborative robot.
  • the beneficial effects of the above preferred embodiments are that the teaching of the industrial robot is more intuitive, does not require complex transformation by the human brain, and reduces the difficulty of teaching and the probability of errors. At the same time, it can be applied to work tasks in a variety of scenarios, and can respond in time to changes in the installation posture of the industrial robot, always ensuring the intuitiveness of robot teaching.
  • the present invention also provides a teaching method for an industrial robot system.
  • the teaching method is applicable to the industrial robot system 100 described in any of the above, and the teaching method includes: S1: Obtaining the installation of the industrial robot pose; S2: Detect the pose of the operating device; S3: Generate a motion instruction according to the installation pose of the industrial robot and the pose of the operating device, the motion instruction makes the end of the industrial robot move based on the guiding direction of the operating device.
  • the acquiring the installation posture of the industrial robot includes acquiring the installation posture of the industrial robot in the world coordinate system;
  • the detecting the posture of the operating device includes detecting the posture of the operating device in the world coordinate system.
  • acquiring the installation posture of the industrial robot 1 includes various methods, for example, acquiring the installation posture of the industrial robot according to the second posture sensor and/or the second orientation sensor disposed on the industrial robot 1, or according to the user's Input to obtain the installation pose of the industrial robot, or, when the industrial robot is set on a moving object, obtain the installation pose of the industrial robot according to the pose of the moving object, for example, obtain the pose of the moving object through the communication between the industrial robot and the moving object And further obtain the installation pose of the industrial robot.
  • the acquiring the installation posture of the industrial robot includes acquiring the installation posture of the industrial robot that changes with the posture and posture of the moving object, that is, the industrial robot can be installed on the moving object to perform work. When changing, the installation posture of the industrial robot changes, and the changed installation posture of the industrial robot is acquired in time, so that the end of the industrial robot moves based on the guiding direction of the operating device.
  • the teaching method includes: acquiring the pose of the robot, and generating motion instructions according to the pose of the robot, the installation pose of the industrial robot, and the pose of the operating device.
  • the pose of the robot is based on the pose information obtained by the robot coordinate system, and the motion instruction is generated by comprehensively considering the pose of the robot, the installation pose of the industrial robot, and the pose of the operating device.
  • the teaching method includes processing the pose of the robot, the installation pose of the industrial robot, and the pose of the operating device, so that the pose of the robot, the installation pose of the industrial robot, and the pose of the operating device are the same. In order to teach the industrial robot intuitively by operating the equipment.
  • the generating the motion instruction of the robot according to the installation pose of the industrial robot and the pose of the operating device includes: acquiring a manipulation instruction for operating the device, where the manipulation instruction includes a movement direction of the industrial robot.
  • Guidance information determine the relative pose of the operating device and the industrial robot according to the installation pose of the industrial robot and the pose of the operating device, that is, convert the installation pose of the industrial robot and the pose of the operating device to the same coordinate system, such as converting the industrial robot into the same coordinate system.
  • Both the installation pose of the robot and the pose of the operating device are converted to the coordinate system of the operating device to obtain the relative pose of the operating device and the industrial robot; The coordinate system of the robot.
  • a motion instruction is generated based on the relative pose and the manipulation instruction.
  • the motion instruction is generated based on the coordinate system of the robot, and the robot can perform motion according to the motion instruction. Therefore, no matter how the installation posture of the robot changes, no matter how the posture and posture of the operating device changes, the guiding direction of the user's manipulation instruction to the operating device is always consistent with the motion direction of the industrial robot, and the user operates the operating device with convenience and intuitiveness. Greatly improved.
  • the present application also provides a computer-readable storage medium, such as a memory storing a computer program, executable by a processor to implement the teaching method of an industrial robot system.
  • a computer-readable storage medium such as a memory storing a computer program, executable by a processor to implement the teaching method of an industrial robot system.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • the pose sensor and/or orientation sensor mentioned in this article is used to obtain the pose and/or orientation, and any sensor that can obtain this information should be included, for example, the pose sensor includes an acceleration sensor , inertial sensors, gyroscopes, electronic compass and other types of sensors.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un système de robot industriel (100), comprenant un robot industriel (1) et un dispositif d'actionnement (3), le dispositif d'actionnement (3) peut enseigner le déplacement du robot industriel (1) en fonction de la manipulation d'un utilisateur, et le dispositif d'actionnement (3) comprend une partie de manipulation (31), et un premier capteur de position, qui est destiné à déterminer la position du dispositif d'actionnement (3), et/ou un premier capteur d'orientation (32). Le système comprend en outre : un module d'acquisition, qui est destiné à acquérir la position d'installation du robot industriel (1); et un module de commande, qui est destiné à générer une instruction de déplacement du robot en fonction de la position d'installation du robot industriel (1) et de la position du dispositif d'actionnement (3), l'instruction de déplacement permettant au robot industriel (1) de se déplacer en prenant comme référence la direction de guidage du dispositif d'actionnement (3). Au moyen du système, la démonstration et l'enseignement d'un robot industriel sont plus intuitifs, et son actionnement est plus pratique. L'invention concerne en outre un procédé d'enseignement destiné à un système de robot industriel, et un support de stockage lisible par ordinateur.
PCT/CN2021/130001 2020-11-13 2021-11-11 Système de robot industriel, procédé d'enseignement et support de stockage Ceased WO2022100648A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202011267432.0 2020-11-13
CN202022634904.3 2020-11-13
CN202022634904.3U CN214025708U (zh) 2020-11-13 2020-11-13 一种直观的工业机器人示教系统
CN202011267432.0A CN114474011B (zh) 2020-11-13 2020-11-13 一种直观的工业机器人示教系统

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WO2022100648A1 true WO2022100648A1 (fr) 2022-05-19

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06149344A (ja) * 1992-11-16 1994-05-27 Fanuc Ltd ロボットの制御方法
JP2014091209A (ja) * 2012-11-07 2014-05-19 Daihen Corp 教示情報修正装置、制御装置、及び教示情報修正方法
CN106182003A (zh) * 2016-08-01 2016-12-07 清华大学 一种机械臂示教方法、装置及系统
CN108369406A (zh) * 2015-10-30 2018-08-03 Keba股份公司 用于控制工业机器人的铰接臂运动的方法、控制系统和运动设置器件
CN110666777A (zh) * 2019-10-16 2020-01-10 湖南三一快而居住宅工业有限公司 示教方法及示教装置
CN111360789A (zh) * 2020-03-23 2020-07-03 广东美的白色家电技术创新中心有限公司 工件加工的示教方法、控制方法及机器人示教系统
CN111390882A (zh) * 2020-06-02 2020-07-10 季华实验室 一种机器人示教控制方法、装置、系统和电子设备
CN214025708U (zh) * 2020-11-13 2021-08-24 苏州艾利特机器人有限公司 一种直观的工业机器人示教系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06149344A (ja) * 1992-11-16 1994-05-27 Fanuc Ltd ロボットの制御方法
JP2014091209A (ja) * 2012-11-07 2014-05-19 Daihen Corp 教示情報修正装置、制御装置、及び教示情報修正方法
CN108369406A (zh) * 2015-10-30 2018-08-03 Keba股份公司 用于控制工业机器人的铰接臂运动的方法、控制系统和运动设置器件
CN106182003A (zh) * 2016-08-01 2016-12-07 清华大学 一种机械臂示教方法、装置及系统
CN110666777A (zh) * 2019-10-16 2020-01-10 湖南三一快而居住宅工业有限公司 示教方法及示教装置
CN111360789A (zh) * 2020-03-23 2020-07-03 广东美的白色家电技术创新中心有限公司 工件加工的示教方法、控制方法及机器人示教系统
CN111390882A (zh) * 2020-06-02 2020-07-10 季华实验室 一种机器人示教控制方法、装置、系统和电子设备
CN214025708U (zh) * 2020-11-13 2021-08-24 苏州艾利特机器人有限公司 一种直观的工业机器人示教系统

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