Research On Guidance Teaching Based On Handheld Navigator For Collaborative Robot

In the context of China's transformation into a manufacturing power and intelligent manufacturing,collaborative robots suitable for 3C and logistics industries have entered a golden stage of development.The guiance teaching function aiming at enhancing human-robot cooperation ability has become a necessary function of collaborative robots.Although the existing schemes can realize the function of guidance teaching,they still have some deficiencies,such as high cost,poor universality or great difficulty in implementation,which affect the wide application of guidance teaching.Therefore,this paper develops a universal,low-cost,remote-controlled guidance teaching system based on a handheld navigator.In detail,according to the functions of the handheld navigator used for guidance teaching,we select wireless space mouse as the prototype of handheld navigator,and program to read and parse the original data of wireless space mouse,and gain mouse own coordinate system.And through qualitative and quantitative analysis of the calibration experiment,the relation equation between the force/torque and the output data of wireless space mouse is obtained.Thus handheld navigator is developed to detect external force/torque applied by operator,to learn operator's intention in the process of guidance teaching.In order to determine the robot guidance algorithm,the guidance control strategy and external force conversion strategy are studied.The simplified robot motion controller model and robot actuator model are built in MATLAB.According to the different inputs of robot motion controller and different control patterns of actuator,three guidance control strategies are built.Through simulation comparison,we select the control strategy based on speed input and position control pattern as the robot guidance control strategy,to realize rapid responsiveness of robot guidance.Through preprocessed by various guidance modes and anti-shake security strategies,and then a force controller based on admittance control model,the external force collected by the handheld navigator is converted into robotic velocity information.Thus,a complete robot guidance algorithm is bulit,which provides theoretical basis and method for the implementation of robot guidance.For point-position teaching mode and continuous teaching mode,point-position replay strategy and replay strategy based on command-time-series are formulated.We program the software system of the guidance teaching system.using C# language,to integrate the data of the hand-held navigator,robot guidance algorithm and teaching replay,and to determine the operation process of the guidanc teaching system.Finally,we introduce the basic composition of the guidance teaching system,on the basis of which adding the end-effector to build an experimental platform.We design the task,conduct guidance and replay experiments on the system,and verify the feasibility of the developed system with experimental results.