Research on Robot Teaching for Complex Task
【摘要】：As the traditional teaching technology can not meet the requirements of complex teaching tasks, this paper studies the direct teaching technology of robots based on the force sensor's gravity compensation and admittance control. Through the gravity compensation of the force sensor, the influence of the gravity of the robot end tool, the installation tilt angle of the robot base and the zero point of the force sensor on the force sensor is reduced, and the teaching accuracy is improved. Using the admittance control principle, the robot can move according to the traction of the teaching staff, and regularly record the teaching points in the process to form the teaching trajectory. Finally, a direct teaching system was established, and the proposed gravity compensation algorithm and direct teaching algorithm were experimentally verified. The experimental results show that the proposed gravity compensation algorithm can achieve better compensation effect. The direct teaching algorithm based on admittance control can simplify the teaching process and complete complex teaching tasks.