研究目的
To develop a hybrid programming method for robots that simplifies the programming process, making it accessible to individuals without specific expertise in robot programming, and improves safety by eliminating the need for close proximity to the robot during programming.
研究成果
The presented hybrid programming method simplifies robot programming, making it accessible to a broader range of individuals and improving safety. Future developments include associating the path program with the component's coordinate system for automatic correction of path reproduction and extending the method by tracking the orientation of the TCP.
研究不足
The programmed path is only correctly reproduced in a configuration not different from the teach state. Changes in the component's position or orientation require recalibration. The method's reliability is affected by external lighting conditions.
1：Experimental Design and Method Selection:
The method involves laser projection of path points, which the robot detects and approaches. Path points are linked via a tablet computer interface to program the robot's path.
2：Sample Selection and Data Sources:
The method was validated in an assembly cell with a fuselage shell segment and stringer made of carbon fiber reinforced plastics.
3：List of Experimental Equipment and Materials:
Includes a UR 10 robot, a programmable logic controller (PLC), a host computer, a tablet computer, a 5mW cross laser for projection, and a tool head with a camera and distance sensor.
4：Experimental Procedures and Operational Workflow:
The working person projects path points, which the robot detects and approaches. The path is programmed via a tablet interface, specifying movement types and parameters. The program is then executed and can be exported.
5：Data Analysis Methods:
The accuracy of position determination is assessed based on the camera's sensor resolution and the robot's repeat accuracy.
独家科研数据包，助您复现前沿成果，加速创新突破
获取完整内容
