Research Of The Direct Teaching System Based On Industrial Robots

Currently the vast majority of industrial robots to obtain the trajectory path by the way of teaching board or off-line programming, only a few companies developed the direct teaching system based on dragging manually, and only apply to the company’s robotic system, do not apply to the most robotic system. In addition, since most of the robotic systems are closed source, do not open directly to the user, so we can’t realize the direct teaching by the way of force control. Therefore, this paper propose an idea on direct teaching system, to realize the direct teaching without modify the original control system, so it can broaden the scope of application of direct teaching, to apply the direct teaching to the traditional robots.Firstly,the application of force / torque sensor to sense the trainer’s teaching force and torque is proposed. To collect the analog voltage signals by the data acquisition card and then these signals are transmitted to the PC, on which the signals converted to force / torque signals with temperature compensation and gravity compensation. Then design a direct teaching handle is used to record the characteristics of track points in the teaching process and triggering the track playback. Secondly, set judgment mechanism to judge the change of the force and torque, if the force/torque is changed, then it is converted to its corresponding displacement by calling UR script. Meanwhile, during the process of direct teaching the robot records the track points unit of time. And design different filter algorithms to process the track point data depending on the different circumstances. Finally, the teaching board teaching, UR robot direct teaching, direct teaching of this system were taught the same trajectory and then compare the different experimental results. Summed up the advantages of the system design as well as the shortcomings and areas of improvement exists in the design, further improvethe design functions.