CN105759775A - Robot motion reproduction method - Google Patents
Robot motion reproduction method Download PDFInfo
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- CN105759775A CN105759775A CN201410771234.6A CN201410771234A CN105759775A CN 105759775 A CN105759775 A CN 105759775A CN 201410771234 A CN201410771234 A CN 201410771234A CN 105759775 A CN105759775 A CN 105759775A
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- robot
- control command
- motion reproduction
- reproduction method
- switching tube
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Abstract
The invention discloses a robot motion reproduction method. The method comprises the following steps: 1) a robot is started; 2) a worker pushes a mechanical arm to move; 3) a robot storage component records control commands sent by a robot control system; 4) the step 2) is carried out until the worker presses a stop button; and 5) the robot sends the control commands to each joint of the robot from the latest control command in an inverted order according to the stored control commands sent by the robot control system, and the robot returns to the starting point. The robot motion reproduction method is similar to the replay function of video play, and realizes motion reproduction.
Description
Technical field
The present invention relates to a kind of action reproducing method, particularly a kind of robot motion reproducing method.
Background technology
Robot substitutes the instrument that mankind's repeated work is best.When people does the work of a large amount of repetition, can feel uninteresting weak, attention can be reduced, it is easy to divert attention, inefficiency can be caused, the undesirable conditions such as accident even occur.One of advantage that robot is maximum substitutes exactly and is accomplished manually the action repeated one by one, owing to each circulation of robot has the movement locus determined, so being very easy to programming, as long as determining the movement locus of robot in advance, the coordinate points of movement locus is write robot control program, the control of robot can be realized.
But, the prior programming Control of such robot, as long as the senior technician of meeting robotic programming just can complete, different workmans cannot complete this type of work, and, if task changes, need change, it is also necessary to return factory, by the engineer of robotized plant from new program.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of robot motion reproducing method, and this robot motion reproducing method can remember the coordinate that workman is forced through, it is achieved the reproduction to action.
In order to realize foregoing invention purpose, robot motion reproducing method of the present invention, comprise switching tube 1, switching tube 2, output point 1, switching tube 3, switching tube 4, output point 2, switching tube 5, switching tube 6, output point 3, switching tube 7, switching tube 8, output point 4, switching tube 9, switching tube 10, output point 5, switching tube 11, switching tube 12, output point 6, switching tube 13, switching tube 14, output point 7, switching tube 15, switching tube 16, output point 8.
Owing to every phase winding is all total current output, power output is exerted oneself greatly than traditional motor.
Detailed description of the invention
Robot motion reproducing method of the present invention.Comprise step 1: robot is opened；Step 2: workman promotes manipulator motion；Step 3: robot memory unit recorder people controls the control command that system sends；Step 4: jump to step 2, until workman presses conclusion button；Step 5: control command, from up-to-date control command, is sent to each joint of robot by the mode of inverted order by the control command that robot sends according to stored robot control system, and robot returns starting point.
The control command that robot sends according to stored robot control system is from up-to-date control command, by the mode of inverted order, control command is sent to each joint of robot, being equivalent to play the function of putting upside down of video, robot will return starting point by original route.
After robot returns starting point, the control command sent according to stored robot control system is from the control command recorded at first, by the mode of positive sequence, control command is sent to each joint of robot, being equivalent to play the playback of video, robot will move towards end point by original route from starting point.
Claims (1)
1. robot motion reproducing method, it is characterised in that: comprise step 1: robot is opened；Step 2: workman promotes manipulator motion；Step 3: robot memory unit recorder people controls the control command that system sends；Step 4: jump to step 2, until workman presses conclusion button；Step 5: control command, from up-to-date control command, is sent to each joint of robot by the mode of inverted order by the control command that robot sends according to stored robot control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410771234.6A CN105759775A (en) | 2014-12-15 | 2014-12-15 | Robot motion reproduction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410771234.6A CN105759775A (en) | 2014-12-15 | 2014-12-15 | Robot motion reproduction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105759775A true CN105759775A (en) | 2016-07-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410771234.6A Pending CN105759775A (en) | 2014-12-15 | 2014-12-15 | Robot motion reproduction method |
Country Status (1)
| Country | Link |
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| CN (1) | CN105759775A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107077153A (en) * | 2017-01-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, control system and the movable fixture of movable fixture |
| CN109702736A (en) * | 2017-10-25 | 2019-05-03 | 优必选教育（深圳）有限公司 | A kind of posture processing method of robot, apparatus and system |
| CN110308698A (en) * | 2018-03-20 | 2019-10-08 | 西门子股份公司 | Robot motion's reproducing method, device, system and storage medium |
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
-
2014
- 2014-12-15 CN CN201410771234.6A patent/CN105759775A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107077153A (en) * | 2017-01-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, control system and the movable fixture of movable fixture |
| US11334064B2 (en) | 2017-01-22 | 2022-05-17 | SZ DJI Technology Co., Ltd. | Control method and system of a movable device and movable device thereof |
| CN109702736A (en) * | 2017-10-25 | 2019-05-03 | 优必选教育（深圳）有限公司 | A kind of posture processing method of robot, apparatus and system |
| CN110308698A (en) * | 2018-03-20 | 2019-10-08 | 西门子股份公司 | Robot motion's reproducing method, device, system and storage medium |
| US11314239B2 (en) | 2018-03-20 | 2022-04-26 | Siemens Aktiengesellschaft | Method, device and system for replaying movement of robot |
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN110815226B (en) * | 2019-11-15 | 2022-03-01 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160713 |
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| WD01 | Invention patent application deemed withdrawn after publication |