Intuitive Teaching And Rapid Programming For Industrial Robots

It is doubtless that the industrial robot is the high-tech industry following automobiles and computers,which transform the working and living styles.Applied Industrial Robotics(AIR)which is one of the key developing projects in major developed countries has been highly concerned and rapidly developed in recent years.The traditional teaching method,including teaching by manual traction and teach pendant,has gradually unable to meet the industrial production need.Even though the off-line programming technique which has been proposed and researched in recent years has not been widely used,because of its high development costs,long design cycle and low universalness.In view of these problems,a new method for robot intuitive teaching and quick programming has been developed based on virtual reality technology in this thesis.Based on the existing off-line programming technology,it is more practical,concise and efficient.Fist,an advanced robot kinematics calibration and identification method was used to improve the robot absolute accuracy,then the three-dimension space position of the work piece was obtained by Multi-sensor information fusion,and an effective 3D registration algorithm was proposed for significantly identify the errors between the actual and nominal locations of the work piece.the programming approaches is to integrate the off-line programming technique with an in-situ 3D registration method with the localization.The superiority of this teaching system is reflected in the following aspects.1)According to the adjoint transformation relationship between the theoretical and actual values of joint twists in the product of exponential(POE)formula,the robot's kinematics equation is transformed into an equivalent form including the joint constraints.The linearized equation describing the relationship between the positioning errors of the end-link and the errors in the frames is obtained by differentiating the kinematic equation.At last,the kinematics parameters which obtained by a least-squares method were compensated to the robot control system in order to improve the robot absolute accuracy.2)Advances in 3D scanning technologies,hardware-accelerated 3D graphics,and related tools have enabled the access to high-quality 3D data readily.Geometrically,the work piece localization issue is equivalent to a 3D registration problem.As such,the programming approaches is to integrate the off-line programming technique with an in-situ 3D registration method.What's more,the particular technology for the work piece localization that are not available in other off-line programming systems greatly increase the teaching accuracy and save teaching times.We aim to create an easy-to-build and easy-to-use robot programming system which could be accessible to anyone without professional skills,and this system is required to be high efficiency and precision.Additionally,it's safe because of users do not need to be physically closed to the machine working environment.Therefore,building such a new robot quick programming method are of great importance,which will not only improve the utilization level of industrial robots,but also speed up the pace of upgrading our nation's manufacturing industries towards intelligent manufacturing.