Development Of Robot Teaching System Based On Multiple Human-computer Interaction Modes

With the development of robot technology,the operation of industrial robots in manufacturing is becoming more and more complex,and higher requirements are placed on the performance of industrial robot teaching systems.However,traditional online teaching methods have only a single human-computer interaction method,and it is difficult to complete complex trajectory teaching.And this teaching method requires teaching programming,requiring the operator to master certain professional knowledge.Therefore,it is of great significance to study a robot teaching system that is rich in human-computer interaction means and can quickly complete complex trajectory teaching.In order to meet the functional requirements of the teaching system,this paper studied and developed a robot teaching system based on multiple human-computer interaction models.The use of Android mobile platform combined with virtual teaching technology to complete the development of the system teach pendant.At the same time,different human-computer interaction interfaces were integrated on the PC platform,and combined with the humancomputer interaction interface of the mobile platform itself.Different human-computer interaction control modes of the system were studied.The teaching control process can be completed without complicated programming,and the user experience is improved.Teaching control process could be completed without complicated programming,which improved the user experience.First,the 3D simulation module required for virtual teaching technology was developed under the Android mobile platform.Based on the Open GL ES technology,the obj model of the robot scene was established,and the corresponding vertex information was processed to complete the construction and display of the three-dimensional scene.The kinematics model of the robot was completed by the D-H method to realize the joint constraint and motion control of the robot in the three-dimensional simulation.In order to make the robot move according to the expected trajectory,the trajectory planning algorithms of the joint space and Cartesian space were studied under the condition of ensuring the speed and acceleration continuous,and the simulation was verified.Second,different human-computer interaction control modes of the system were studied and implemented.In the remote working mode of the system,the human-computer interaction control mode based on speech and gravity induction was studied.The speech interaction used the speech recognition function to define the grammar rules of speech recognition and the related recognition command library,which realized the teaching control of the speech instruction to the robot;Gravity sensing utilized the data acquisition of the acceleration sensor to realize synchronous control of the robot's end under different rotational attitudes of the Android mobile platform.In the local working mode of the system,the end dragging teaching method based on the six-dimensional force sensor was studied,and the robot's end pose adjustment was achieved through force/torque.The robot's end control was realized by using the three-dimensional mouse.Finally,the teaching system was developed,including the Android teaching software and the functional interface design that controlled communication software.as well as the construction of hardware platform.To verify the feasibility of the teaching system proposed in this paper,the virtual teaching experiment and different human-computer interaction control mode tests were completed.By analyzing the experiments and testing process,the robot teaching system based on multiple human-computer interaction models can meet the actual teaching task requirements.