[1]孔民秀,赵 宁.机器人示教臂系统的示教实现[J].机械与电子,2015,(10):76-80.
　KONG Minxiu,ZHAO Ning.Realization of Teaching Method by Robot Teaching Arm[J].Machinery & Electronics,2015,(10):76-80.
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机器人示教臂系统的示教实现
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年10期
页码:
76-80
栏目:
智能工程
出版日期:
2015-10-25

文章信息/Info

Title:
Realization of Teaching Method by Robot Teaching Arm
文章编号:
1001-2257(2015)10-0076-05
作者:
孔民秀; 赵 宁
(哈尔滨工业大学机器人系统与国家重点实验室,黑龙江 哈尔滨 150000)
Author(s):
KONG Minxiu; ZHAO Ning
(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China)
关键词:
工业机器人;  示教臂;  拖拽驱动示教
Keywords:
industrial robot;  teach arm;  drag-teach method
分类号:
TP242.2
文献标志码:
A
摘要:
提出了基于轻质无驱动机械臂人工拖动的直接示教方式。根据DH变换法建立了示教臂与被示教机器人运动学关系。针对逆运动学多解问题,以位形选择方式,实现示教臂和机器人的位置映射,从而实现了示教臂与机器人的示教-再现过程,并说明了有奇异路径的示教方法。对具体任务进行仿真验证了方法的有效性。
Abstract:
A teaching method with light mass mechanical arm based on no motor-driving and on man-hand-dragging is proposed. Relationship of the kinematics between the two arms is set up based on D-H method. To choose one appropriate solution from multiple solutions of inverse kinematics by choosing configuration number to correspond trajectory is proposed, realizing the industrial robot to play the trail. The teach method of singular path is also stated. Simulation for specific tasks is done and the method is shown to be effective.

参考文献/References:

[1] 李占贤,陈杰,杨志杰,等.关节型机器人示教机构的平衡设计与优化[J].机械工程师,2010(9),30-32.
[2] Lin H I,Lin Y H.A novel teaching system for industrial robots [J]. Sensors(Switzerland),2014,14(4):6012-6031.
[3] Choi S,Eakins W,Rossano G,et al. Lead-through robot teaching [C]//Technologies for Practical Robot Applications(TePRA),2013 IEEE International Conference on. IEEE, 2013:1-4.
[4] 谭民.先进机器人控制[M].北京:高等教育出版社,2007.
[5] 付京逊,冈萨雷斯RC,李CSG.机器人学[控制 传感技术 视觉 智能][M].杨静宇,李德昌,等译.北京:中国科学技术出版社,1989.

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备注/Memo

备注/Memo:
收稿日期:2015-06-03
作者简介:孔民秀(1972-),男,黑龙江阿城人,副教授,研究方向为机器人技术; 赵 宁(1990-),女,河北石家庄人,硕士研究生,研究方向为工业机器人。
更新日期/Last Update: 2019-10-25