关键词: 工业机器人, 轨迹示教, 机器人手眼标定, 手持示教笔

Abstract: Aiming at the problems of poor interaction,low programming efficiency and high learning cost in the traditional 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 cabinet 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 experiment 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.

Key words: industrial robot, trajectory teaching, robot hand-eye calibration, hand-held teaching pen