Design And Implementation Of Robot Teaching System Based On Somatosensory Control

With the advancement of science and technology,industrial robots have gradually entered our vision and have been used by us.Teaching device is an important part of industrial robots,its types of function and ease of operation has gradually become key research at home and abroad.The traditional robot teaching device is controlled the movement of the robot through the joystick or the button on the teaching device,so that the teaching device has the bulky shell and the ease of operation can not be guaranteed.Many eaching device of manufacturersts is their own R&D system,which is not conducive to inter platform transplantation.Aiming at the demand of R&D of robots teaching device,it puts forward a kind of somatosensory teaching methods based on Android platform.The somatosensory teaching is based on the measured data of the internal sensor of the teaching device to analyze the movement posture of the teaching device,and sends different motion commands to the controller to complete the teaching of the robots according to the different postures.Firstly,it is the overall design of the somatosensoiy teaching system.Select the development platform of somatosensory teaching software through the analysis of the operating system of Android smart terminal.Clarify the overall design scheme of the somatosensory teaching system according to the functional requirements of the teaching device.Secondly,it is the design of teaching function module.It includes software teaching and somatosensory teaching.It adds the functions of syntax highlighting and line automatic indentation,which is easy to write and modify programs in the tablet.Somatosensory teaching is mainly the measurement of equipment tilt angle.The acceleration sensor measures the value of the acceleration component,so that when the motion is stationary or uniform,it can measure the inclination of the device by gravity on the components of each axis.Gyro sensor can be calculated deflection angle relative to the last acquisition time based on the instantaneous angular velocity of the device in the equipment movement.By using the Kalman filter,combining the advantages of the two,the gyro sensor data and the acceleration sensor data are weighted as average,and then the data is fused to obtain the stable data under the premise of ensuring the accurate angle.Thirdly,it is the human-computer interaction module as well as the data processing module design.Human-computer interaction module provides the function of information display and modification.Data processing module is divided into command encapsulation,data analysis and information preservation.Fourthly,it is the design of the communication module.The communication module is one of the important modules of the teaching device.This article mainly describes from connection of TCP and UDP,long connection mechanism of TCP,communication command determination and other aspects.And the communication module is tested.Finally,it summarizes the work having done and prospects the direction of future work.