CN114571491A - Robot control device based on force sensor and teaching method - Google Patents
Robot control device based on force sensor and teaching method Download PDFInfo
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- CN114571491A CN114571491A CN202210205487.1A CN202210205487A CN114571491A CN 114571491 A CN114571491 A CN 114571491A CN 202210205487 A CN202210205487 A CN 202210205487A CN 114571491 A CN114571491 A CN 114571491A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000012636 effector Substances 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 9
- 238000002955 isolation Methods 0.000 claims description 9
- 238000012790 confirmation Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 230000035945 sensitivity Effects 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000003466 welding Methods 0.000 description 15
- 238000005507 spraying Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 241000894006 Bacteria Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000700605 Viruses Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000000813 microbial effect Effects 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to a robot control device based on a force sensor and a teaching method. The device comprises a robot, a teaching operation part, a teaching box and a robot controller, wherein the tail end of the robot is provided with an end effector, and the robot is used for executing teaching operation; the teaching operation part is independently arranged with the robot and is used for teaching operation of an operator; the teaching box is communicated with the teaching operation part and used for storing posture change information and stress information of the teaching operation part and acquiring robot moving direction teaching information; the robot controller is connected with the teaching box and the robot, and the robot controller conducts teaching control on the robot according to robot moving direction teaching information acquired by the teaching box. According to the teaching robot, a worker does not need to manually drag the teaching robot to move, the teaching operation is simple and convenient, the teaching robot is suitable for teaching scenes for processing workpieces with complex structures or large volumes, and the teaching efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a robot control device based on a force sensor and a teaching method.
Background
Corresponding to the robot arc welding application, especially, the space curve precision operation is carried out in a narrow space, and a lot of experience and a welding process angle are needed. At present, the teaching work of the traditional industrial robot has the modes of teaching through teaching box operation, off-line programming, on-line programming, robot vision, welding seam tracking, dragging and the like, and the mode of manually dragging the teaching is more superior in consideration of the diversity, complexity and safety of welding workpieces.
The application number is 201810514806.0, which is a Chinese invention patent named as a direct dragging teaching system and method based on a force sensor, wherein in the recorded technology, a six-dimensional force sensor is used for collecting the stress information of an end effector in the process of dragging the end effector to move by a doctor; the industrial personal computer performs gravity compensation on the stress information of the end effector acquired by the six-dimensional force sensor to acquire external force information when a doctor drags the end effector to move; the industrial personal computer generates a robot motion instruction according to external force information when a doctor drags the end effector to move, and the robot controller controls the robot to move according to the motion instruction. Different from dentists who perform operations in the welding application process, the welding robot end effector is a welding gun, and firstly, the welding gun of the robot end effector generally has a wire feeding cable connected with a wire feeder, so that the welding gun of the end effector not only contains a gravity load of the gravity load, but also contains an elastic force load of a wire feeding cable of a wire feeding system and a damping load of the wire feeding system. Secondly, the approach of this patent document requires one force sensor for one robot, and cannot correspond to a plurality of robots because of the configuration constraint that six-dimensional force sensors are connected in series between the robot and the end effector. Finally, the arc welding application working range of the robot has more singular solutions and is not suitable for gravity compensation.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a robot control device and a teaching method based on a force sensor.
In order to achieve the purpose, the invention adopts the following technical scheme:
an embodiment of the present invention provides a robot control apparatus based on a force sensor, including
The robot, the end effector is set at the end of the robot, the robot is used to execute teaching operation;
a teaching operation part which is arranged independently from the robot and is used for teaching operation of an operator;
the teaching box is communicated with the teaching operation part and used for storing stress information and posture change information of the teaching operation part and acquiring robot moving direction teaching information;
and the robot controller is connected with the teaching box and the robot, and the robot controller performs teaching control on the robot according to the robot moving direction teaching information acquired by the teaching box.
In one possible implementation manner, the teaching operation part comprises a control handle fixing seat and a control handle movably arranged on the control handle fixing seat; a six-dimensional force sensor is arranged between the control handle and the control handle fixing seat and used for acquiring and outputting three-dimensional space stress information of the control handle; the control handle is provided with a safety button which is used for sensing the holding state of an operator on the control handle.
In one possible implementation, the safety button is disposed on the top of the manipulation handle; the safety button issues a pause signal when the operator presses or releases the safety button.
In a possible implementation manner, a confirmation button, a cancel button and a sensitivity adjusting button are sequentially arranged on the control handle along the height direction.
In one possible implementation manner, the control handle fixing seat comprises a fixing device, a lower connecting piece and an upper connecting piece, wherein the lower connecting piece is connected to the bottom of the upper connecting piece, and the lower connecting piece is connected with the fixing object through the fixing device; the six-dimensional force sensor is arranged on the upper connecting piece.
In one possible implementation, a separation device is provided between the robot and the operating part.
In one possible implementation, the isolation device is a filter glass.
Another embodiment of the present invention provides a teaching method using the force sensor-based robot control device as described above, the teaching method including the steps of:
1) the robot and the teaching operation part are respectively arranged in relatively independent spaces;
2) an operator performs teaching operation through the teaching operation part, and three-dimensional stress information of the control handle is collected and output through the six-dimensional force sensor in the operation process; the holding state of an operator on the control handle is sensed through the safety button;
3) the teaching box is communicated with the teaching operation part, and the teaching box obtains posture change information of the teaching operation part through three-dimensional stress information of the control handle so as to obtain robot moving direction teaching information;
4) the robot controller receives robot moving direction teaching information output by the teaching box and sends a teaching control instruction to the robot according to the robot moving direction teaching information;
5) the robot executes the teaching control command sent by the robot controller to perform teaching operation.
In one possible implementation, when the operator grips or releases the safety button, the safety button sends a pause signal, and the robot controller controls the robot to pause.
In one possible implementation mode, the teaching intention is quickly stored on line by controlling a confirmation button arranged on a handle; the regret is carried out by operating a cancel button arranged on the handle.
The invention has the advantages and beneficial effects that: the robot control device based on the force sensor can realize teaching operation of the robot only by controlling the moving direction and the pressing information of the control handle, simplifies the control of the robot, so that the control handle can finish teaching action in any direction and any position, and the teaching information of the moving direction of the robot is acquired through the teaching box, thereby greatly enhancing the operation freedom of the robot.
According to the teaching robot, the teaching operation part and the robot are arranged independently, man-machine separation is realized in a harmful environment through the isolation device, teaching is performed on the robot according to the working path generated by the teaching box, a worker does not need to manually drag the teaching robot to move, the teaching operation is simple and convenient, the teaching robot is suitable for teaching scenes for processing workpieces with complex structures or large volumes, and the teaching efficiency is improved.
The invention can be applied to the microbial environment with toxicity, harm, bacteria, virus and the like; welding expert database data can be optimized through arc light online welding fine adjustment; the thermal cutting expert database data can be optimized through the fine adjustment of the thermal cutting by plasma flame; the spraying expert database data can be optimized through online spraying fine adjustment through the spraying splashing effect; the polishing expert database data can be optimized by polishing effects, such as polishing sparks, and online polishing fine tuning.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is an isometric view of a force sensor based robotic control device of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a rear view of the steering handle of the present invention;
in the figure: the robot comprises a robot body 1, a robot controller 2, an end effector 3, a fixing device 4, a lower connecting piece 5, an upper connecting piece 6, a six-dimensional force sensor 7, a control handle 8, a safety button 9, a confirmation button 10, a cancel button 11, a sensitivity adjusting button 12, a fixture 13, an isolating device 14, a teaching box 15, a force control cable 16, a teaching box cable 17 and a body interconnection cable 18.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides a robot control device based on a force sensor, which implements teaching operations of a robot, simplifies control of the robot, and greatly enhances the degree of freedom of operation of the robot. Referring to fig. 1 to 3, the robot control device based on the force sensor includes a robot 1, a teaching operation part, a teach pendant 15 and a robot controller 2, wherein an end effector 3 is provided at the end of the robot 1, and the robot 1 is used for performing teaching operation; a teaching operation part is arranged independently relative to the robot 1, and the teaching operation part is used for teaching operation of an operator; the teaching box 15 is communicated with the teaching operation part, and the teaching box 15 is used for storing stress information and posture change information of the teaching operation part and obtaining teaching information of the moving direction of the robot 1; the robot controller 2 is connected to the teach pendant 15 and the robot 1, and the robot controller 2 performs teaching control of the robot 1 based on teaching information of the moving direction of the robot 1 acquired by the teach pendant 15.
In the embodiment of the invention, the robot 1 and the robot controller 2 are connected through the body interconnection cable 18 to communicate power and signals; the teaching box 15 and the robot controller 2 are connected by a teaching box cable 17 to communicate power and signals; the teaching box 15 is connected to the six-dimensional force sensor 7 and the control handle 8 via a force control cable 16, and communicates power and signals.
In the embodiment of the invention, the teaching operation part comprises a control handle fixing seat and a control handle 8 movably arranged on the control handle fixing seat; a six-dimensional force sensor 7 is arranged between the control handle 8 and the control handle fixing seat, and the six-dimensional force sensor 7 is used for acquiring and outputting three-dimensional space stress information of the control handle 8; the control handle 8 is provided with a safety button 9, and the safety button 9 is used for sensing the holding state of the control handle 8 by an operator.
Specifically, as shown in fig. 2 and 3, the safety button 9 is provided on the top of the handle grip 8. When the operator presses or releases the safety button 9 due to the safety problem, the safety button 9 sends a pause signal, and the robot controller 2 controls the robot 1 to pause.
Furthermore, a confirmation button 10, a cancel button 11 and a sensitivity adjusting button 12 are sequentially arranged on the control handle 8 along the height direction, wherein the sensitivity adjusting button 12 is used for controlling the control of an operator, and the teaching intention hand sensitivity is obtained when the control handle 8 moves; the confirmation button 10 and the cancel button 11 enable the operator to control the teaching intentions for the movement of the manipulating handle 8 to be stored quickly and on-line and repentably.
In the embodiment of the invention, the control handle fixing seat comprises a fixing device 4, a lower connecting piece 5 and an upper connecting piece 6, wherein the lower connecting piece 5 is connected to the bottom of the upper connecting piece 6, and the lower connecting piece 5 is connected with a fixing object 13 through the fixing device 4; the six-dimensional force sensor 7 is disposed on the upper connecting member 6.
Specifically, the fixing device 4 is temporarily fixed and locked by using a screw nut, a mechanical self-locking elbow clamp, an electromagnet, a sucker or any commercially available device capable of being temporarily fixed.
Furthermore, an isolation device 14 is arranged between the robot 1 and the operation part, the six-dimensional force sensor 7 and the control handle 8 on the fixed object 13 are divided by the isolation device 14 into different physical common spaces with the robot 1, and the fixed object 13 is fixed with the ground.
In particular, the isolation device 14 is filter glass. The welding operator can observe the attenuated arc through the filter glass and further fine-tune the spatial trajectory of the end effector 3. Further, it is possible to work in reverse, for example, the isolation device 14 may be two different rooms of a biological laboratory, one room being the end effector 3 and the robot 1, and the other room being the six-dimensional force sensor 7 and the manipulation handle 8 on the fixture 13, thereby avoiding bacteria and microorganisms. Furthermore, 5G real-time communication can be fused, the six-dimensional force sensor 7 and the control handle 8 on the fixed object 13 are located in one region, and the end effector 3 and the robot 1 are located in the other region. Or for example, the isolation device 14 can be two different rooms of the spraying operation, wherein the end effector 3 and the robot 1 are arranged in one room, and the six-dimensional force sensor 7 and the control handle 8 on the fixture 13 are arranged in the other room, so that the harm of spraying dust is avoided.
The invention provides a robot control device based on a force sensor, wherein a robot 1 and a teaching operation part are respectively and independently arranged, and the teaching operation part respectively detects posture change information and stress information of an operation handle 8 through a six-dimensional force sensor 7 and a safety button 9; the pose change information and the stress information of the teaching operation part are stored through the teaching box 15, and the teaching information of the moving direction of the robot 1 is obtained through analysis and calculation; the robot controller 2 guides the robot end effector (welding gun) to move through the moving direction teaching information stored in the teaching box 15, and therefore flexible and accurate control teaching in the welding teaching process is achieved. For the human-computer separation of harmful environments, the two environments can be remotely operated in different places in real time through a 5G technology.
Another embodiment of the present invention provides a teaching method implemented by the robot control device based on a force sensor as described in any of the above embodiments, the teaching method comprising the steps of:
1) the robot 1 and the teaching operation section are respectively arranged in relatively independent spaces;
2) an operator performs teaching operation through the teaching operation part, and in the operation process, three-dimensional stress information of the control handle 8 is collected and output through the six-dimensional force sensor 7; the holding state of the operator on the control handle 8 is sensed through the safety button 9;
3) the teaching box 15 is communicated with the teaching operation part, the teaching box 15 obtains posture change information of the teaching operation part through three-dimensional stress information of the control handle 8, and then obtains and outputs teaching information of the moving direction of the robot;
4) the robot controller 2 receives the robot movement direction teaching information output from the teaching box 15, and transmits a teaching control command to the robot 1 based on the robot movement direction teaching information;
5) the robot 1 executes a teaching control command transmitted from the robot controller 2 to perform a teaching operation.
In the teaching process, a confirmation button 10 arranged on the control handle 8 is used for quickly storing teaching intentions on line; the regret is performed by manipulating a cancel button 11 provided on the handle 8. When a safety problem is encountered, the robot 1 is paused by gripping or loosening the safety button 9; function of the safety button 9: the teaching box is in an effective state, and when the switch is loosened or pressed tightly, the robot enters an emergency stop state; only, the teaching box is in an effective state, and when the switch is pressed semi-loosely and semi-tightly, the robot enters a normal operation teaching state. That is, the safety button 9 is a safety operation switch, which is constructed in a self-resetting manner, i.e., a switch is turned on when pressed down, and is automatically reset by spring force when no pressure is applied, and is automatically turned off when an electric shock is applied.
According to the teaching method provided by the invention, the teaching operation of the robot can be realized only by controlling the moving direction and the stress magnitude of the control handle, the teaching robot does not need to be manually dragged by a worker to move, the teaching operation is simple and convenient, and the teaching method is suitable for teaching scenes for processing workpieces with complex structures or large volumes and improves the teaching efficiency.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot control device based on a force sensor is characterized by comprising
The robot comprises a robot (1), wherein an end effector (3) is arranged at the tail end of the robot (1), and the robot (1) is used for executing teaching operation;
a teaching operation part which is arranged independently from the robot (1) and is used for teaching operation of an operator;
the teaching box (15) is communicated with the teaching operation part, and the teaching box (15) is used for storing stress information and posture change information of the teaching operation part and acquiring movement direction teaching information of the robot (1);
and the robot controller (2) is connected with the teaching box (15) and the robot (1), and the robot controller (2) performs teaching control on the robot (1) according to the teaching information of the moving direction of the robot (1) acquired by the teaching box (15).
2. The force sensor-based robot control device according to claim 1, wherein the teaching operation part includes a manipulation handle holder and a manipulation handle (8) movably disposed on the manipulation handle holder; a six-dimensional force sensor (7) is arranged between the control handle (8) and the control handle fixing seat, and the six-dimensional force sensor (7) is used for acquiring and outputting three-dimensional space stress information of the control handle (8); a safety button (9) is arranged on the control handle (8), and the safety button (9) is used for sensing the holding state of an operator on the control handle (8).
3. Force-sensor based robot control, according to claim 2, characterized in that the safety button (9) is placed on top of the handling handle (8); when the operator presses or releases the safety button (9), the safety button (9) sends a pause signal.
4. The force sensor-based robot control device according to claim 2, wherein a confirmation button (10), a cancel button (11), and a sensitivity adjustment button (12) are provided in the control handle (8) in this order in the height direction.
5. The force sensor-based robot control device according to claim 2, wherein the manipulating handle fixing base comprises a fixing device (4), a lower connecting piece (5) and an upper connecting piece (6), wherein the lower connecting piece (5) is connected to the bottom of the upper connecting piece (6), and the lower connecting piece (5) is connected with the fixture (13) through the fixing device (4); the six-dimensional force sensor (7) is arranged on the upper connecting piece (6).
6. Force-sensor based robot control according to claim 2, characterized in that an isolation device (14) is provided between the robot (1) and the operating part.
7. Force-sensor based robot control device according to claim 6, characterized in that the isolation device (14) is a filter glass.
8. A method for teaching using the force sensor based robot control device according to any of claims 2-7, characterized in that the method comprises the steps of:
1) the robot (1) and the teaching operation part are respectively arranged in relatively independent spaces;
2) an operator performs teaching operation through the teaching operation part, and in the operation process, three-dimensional stress information of the control handle (8) is collected and output through the six-dimensional force sensor (7); the holding state of an operator to the control handle (8) is sensed through the safety button (9);
3) the teaching box (15) is communicated with the teaching operation part, the teaching box (15) obtains posture change information of the teaching operation part through three-dimensional stress information of the control handle (8), and then obtains and outputs teaching information of the moving direction of the robot;
4) the robot controller (2) receives robot moving direction teaching information output by the teaching box (15), and sends a teaching control command to the robot (1) according to the robot moving direction teaching information;
5) the robot (1) executes a teaching control command transmitted by the robot controller (2) to perform teaching operation.
9. The teaching method according to claim 8, wherein when an operator grips or releases the safety button (9), the safety button (9) issues a pause signal, and the robot controller (2) controls the robot (1) to pause.
10. The teaching method according to claim 8, wherein the teaching intent is stored quickly on-line by manipulating a confirmation button (10) provided on the handle (8); the regret is performed by operating a cancel button (11) arranged on the handle (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210205487.1A CN114571491A (en) | 2022-03-04 | 2022-03-04 | Robot control device based on force sensor and teaching method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210205487.1A CN114571491A (en) | 2022-03-04 | 2022-03-04 | Robot control device based on force sensor and teaching method |
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| CN202210205487.1A Pending CN114571491A (en) | 2022-03-04 | 2022-03-04 | Robot control device based on force sensor and teaching method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260776A (en) * | 2023-09-28 | 2023-12-22 | 北京小雨智造科技有限公司 | Man-machine interaction method and device applied to robot |
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| CN113927583A (en) * | 2021-06-30 | 2022-01-14 | 深圳市越疆科技有限公司 | Robot system, method, mechanical arm and storage medium configured with teaching and learning function |
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2022
- 2022-03-04 CN CN202210205487.1A patent/CN114571491A/en active Pending
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|---|---|---|---|---|
| CN1200691A (en) * | 1995-09-14 | 1998-12-02 | 株式会社安川电机 | Teaching unit for robots |
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| EP3081351A2 (en) * | 2015-04-13 | 2016-10-19 | KUKA Roboter GmbH | Hand-held robot control apparatus, and associated method |
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| CN117260776A (en) * | 2023-09-28 | 2023-12-22 | 北京小雨智造科技有限公司 | Man-machine interaction method and device applied to robot |
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Application publication date: 20220603 |