摘要
对工业码垛机器人示教再现技术进行了研究与改进,提出了一种新的示教再现方法;按照文中所述方法,任一货物在码放过程中,其码垛轨迹经过的四个空间点只有一点需要经过示教获得,其余三点均可通过文中提出的算法程序根据货物参数获得;所建立的示教再现方法原理简单明了、过程灵活精确、结果简洁高效,能够大大提高工业码垛机器人示教再现的效率;具体实验也表明,所述方法实际可行,能够根据实际需要得到满意的码放物垛。
This paper has reported the research and improvement in industrial palletizing robot＇s teaching technology in which a new method of teaching was proposed.According to the method in this paper,in the process of stacking,only one of four points which are at the stacking trajectory needs to be obtained through teaching,the other three points could be obtained from algorithm and parameters of goods in this paper.The method and principle of playback in this paper are simple and clear;the process is flexible and accurate;the result is concise and effective.In a word,this method and principle of teaching can improve the effectiveness of industrial palletizing robot greatly.Practical experiments also proved that the method in this paper is feasible and can meet practical need.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第4期950-953,共4页
Computer Measurement &Control
关键词
工业码垛机器人
示教技术
研究与实现
industrial palletizing robot
teaching technology
research and realization
作者简介
吕亭强（1985-），男，硕士研究生，主要从事机器人控制技术、机器人示教技术方向的研究。
罗庆生（1956-），男，教授，博士研究生导师，主要从事机器人技术、机电一体化技术方向的研究。
