基于六维鼠标的机器人位姿控制研究  

Study of Robot Position Control Based on 6D Mouse

作　　者：祝润泽 黄昕 高燕 ZHU Runze;HUANG Xin;GAO Yan(Central Research Institute,Guangzhou Mechanical Engineering Research Institute Co.,Ltd.,Guangzhou Guangdong 510700,China)

机构地区：[1]广州机械科学研究院有限公司中央研究所,广东广州510700

出　　处：《机床与液压》2022年第9期61-65,共5页Machine Tool & Hydraulics

基　　金：国家重点研发计划(2019YFB1311100)。

摘　　要：机器人的直接示教能够降低机器人在制造企业中的应用难度,缩短其示教时间。提出一种基于六维鼠标的机器人示教操作方式。鼠标通过USB与机器人控制器连接;控制器收到鼠标数据后对鼠标坐标系下的数据进行坐标系转换;转换后的数据进入控制器内部的轨迹控制器,以实时地根据鼠标数据生成机器人移动轨迹;生成的轨迹再经过逆解后作为指令传入各轴伺服实现对机器人的控制。该示教控制方式基于Sinomach IT机器人实现,并在某Sinomach IT SR07L机器人上进行实验。结果表明:该控制方案可以有效根据六维鼠标控制机器人位姿。By using the direct teaching of robots,the application difficulty of robots in manufacturing enterprises can be reduce and the time of the teaching can be shortened.A direct teaching method based on 6D mouse was proposed.The mouse was connected to a robot controller through the USB;after the controller received the mouse data,the coordinate system transformation for the data under the mouse coordinate system were carried out;the converted data were put into the internal track controller,and the robot move⁃ment track was generated in real time according to the mouse data;the generated trajectory was transferred into each axis after the in⁃verse solution as instructions to realize the control of the robot.The teaching control method was implemented based on Sinomach IT ro⁃bot and tested on a Sinomach IT SR07L robot.The results show that the proposed control scheme can be used to effectively control the robot position according to the 6D mouse.

关 键 词：六维鼠标 直接示教 位姿控制 

分 类 号：TH122[机械工程—机械设计及理论]