基于增强现实技术的工业机器人引导示教方法  

Industrial robot guiding and teaching method based on augmented reality

作　　者：彭爱泉 卓建华[2] 蔡孝锦 吴海彬[2] PENG Aiquan;ZHUO Jianhua;CAI Xiaojin;WU Haibin(Department of Mechanical and Electrical Engineering,Guizhou Communications Polytechnic,Guiyang 551400,China;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]贵州交通职业技术学院机电工程系,贵阳551400 [2]福州大学机械工程及自动化学院,福州350108

出　　处：《现代制造工程》2023年第8期36-43,共8页Modern Manufacturing Engineering

基　　金：国家重点研发计划项目(2018YFB1308603)。

摘　　要：工业机器人的示教编程目前普遍存在操作复杂、专业性强、效率低及易产生意外碰撞等问题,为了提升工业机器人示教编程效率及安全性,将在线示教和离线示教的优点有机结合,提出了一种基于增强现实技术的工业机器人引导示教方法。首先,建立了机器人的D-H模型并对其正/逆运动学进行分析求解,将其解应用到虚拟机器人的运动控制中,使虚拟机器人能够符合实际机器人的控制方式及运动形式。其次,利用增强现实技术以呈现出的虚拟机器人代替实际机器人进行示教操作。该方法应用了更为自然的手势交互方式,降低了操作者的专业性要求并提高了示教效率。最后,通过模拟液晶面板涂胶的示教实验,验证了利用增强现实技术进行工业机器人示教编程的有效性和可行性。At present,the teaching and programming of industrial robots have many problems such as complicated operations,strong professionalism,low efficiency,and easy accidental collisions.In order to improve the efficiency and safety of teaching and programming for industrial robot,and organically combining the advantages of online teaching and offline teaching,an industrial robot guiding and teaching method based on augmented reality was proposed.Firstly,the D-H model of robot was established and its forward and inverse kinematics were analyzed and solved.The solution was applied to the motion control of virtual robot,so that the virtual robot can be controlled the same as the actual robot.Secondly,through augmented reality technology,virtual robot was used to replace actual robot for teaching operations.This method applies a more natural gesture interactive mode,which reduces the professional requirements for the operator and improves the teaching efficiency.Finally,the teaching experiment of simulating glue coating on the LCD panel verified the effectiveness and feasibility of using augmented reality for teaching and programming of industrial robots.

关 键 词：增强现实 机器人示教 自然人机交互 工业机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]