Trajectory demonstration and teaching method of industrial robot based on hand-held teaching pen
Aiming at the problems of poor interaction,low programming efficiency and high learning cost in the tradi-tional teaching method of industrial robots,a new method of track demonstration and teaching of industrial robots based on hand-held teaching pen was proposed.The transformation matrix between the coordinate system and the robot base coordinate system was established by hand-eye calibration,and the calibration accuracy optimization method based on Iterative Closest Point(ICP)was proposed to improve the hand-eye calibration accuracy.Then,the pose tracking system was used to track the position and attitude of the hand-held teaching pen,and its position and attitude were transferred to the robot base coordinate system and transmitted to the industrial robot control cabi-net through Ethernet,so as to control the industrial robot to reproduce the track of the hand-held teaching pen.In this paper,the robot teaching platform was built,and the industrial robot trajectory demonstration and teaching ex-periment was carried out.The experimental results showed that the average error and maximum error of the pose data obtained by the hand-held teaching pen were 2.19mm and 4.57mm,which could meet the teaching requirements of industrial robots.
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