摘要
随着工业自动化水平的飞速发展，工业机器人得到了越来越广泛的应用，特别是六自由度串联机器人被大量应用在各行各业，其主要依靠示教来使其完成指定的作业任务，在线示教方法和离线示教方法是工业生产当中应用最广泛的，但传统示教方法存在一些缺点和局限性。为此，针对传统示教方法的不足，提出了一种新的示教方法，该方法利用视觉定位技术进行跟踪和采集示教轨迹的数据，机器人依据采集数据实现复杂轨迹再现。
With the rapid development of industrial automation level,industrial robots have been more and more widely used,especially the serial robot with six degrees of freedom( 6-DOF) is widely used in various profession and industries in a great amount. It was mainly relyed on teaching to complete its assigned working tasks,with online and offline teaching methods most widely used in industrial production. But the traditional teaching method had some shortcomings and limitations. Therefore,aimed at the deficiency of traditional teaching method,a new teaching method was presented,which adopted the visual positioning technology to track and collect the visual teaching trajectory data. The robot can realize playback of the complex trajectory according to the data collected.
出处
《机床与液压》
北大核心
2015年第21期62-65,共4页
Machine Tool & Hydraulics
基金
江苏省科技支撑计划项目
关键词
工业机器人
示教方法
视觉定位
复杂轨迹
Industrial robot
Teaching method
Visual positioning
Complex trajectories
