基于激光定位技术的机器人非接触无编程示教方法与实现  

Non-contact and Non-programming Robot Teaching Method and Implementation Based on Laser Localization Technology

作　　者：范书龙 时帅 付全刚 徐壮 姜晓峰 杨富春[1] FAN Shulong;SHI Shuai;FU Quangang;XU Zhuang;JIANG Xiaofeng;YANG Fuchun(School of Mechanical Engineering,Shandong University,Jinan Shandong 250061,China;Taian Xinjie Machinery Co.,Ltd.,Taian Shandong 271200,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]泰安鑫杰机械有限公司,山东泰安271200

出　　处：《机床与液压》2024年第11期7-12,共6页Machine Tool & Hydraulics

基　　金：山东省重点扶持区域引进急需紧缺人才项目(2023);山东省技术创新引导计划项目(YDZX2023085)。

摘　　要：针对现有机器人示教系统操作复杂、示教编程难度高及需操纵机器人等问题,提出一种基于激光定位技术的机器人非接触无编程示教方法。以示教笔代替机器人末端工具绘制示教轨迹,通过激光定位技术获取示教笔的示教路径和动作,并通过机器人逆运动学求解及轨迹规划得到各个关节的控制轨迹,实现机器人的快速非接触无编程示教。最后通过搭建桁架式六轴机器人硬件和软件系统,实现了基于激光定位技术的机器人非接触无编程示教,验证了提出的示教方法的可行性。所提示教方法简化了示教过程,降低了操纵机器人带来的安全风险,且无需操作人员具备编程能力,使机器人示教工作具有良好的适应性,具有广阔的应用空间。Aiming at the problems of the existing robot teaching system,such as complex operation,high programming difficulty and need to control the robot,a non-contact and non-programming robot teaching method based on laser positioning technology was proposed.The teaching pen was used instead of the robot end tool to draw the teaching trajectory,the teaching path and action of the teaching pen were obtained through laser positioning technology,and the control trajectory of each joint was obtained through robot inverse kinematics solution and trajectory planning,so as to realize rapid non-contact and non-programming robot teaching.Finally,by building a truss six-axis robot hardware and software system,the non-contact and non-programming teaching of the robot based on laser positioning technology was realized,and the feasibility of the proposed teaching method was verified.This teaching method simplifies the teaching process,reduces the safety risks associated with robot manipulation,does not require operators to have programming skills,and makes robot teaching work adaptable and widely applicable.

关 键 词：机器人 激光定位 无编程示教 示教笔 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]