| The industrial robot system is composed of the teaching system,control host machine and the main body of robot.With the extensive application of industrial robot in production and manufacture,the requirements to the performance of industrial robot teaching system gets higher and higher.At present,most industrial robots are playback robot,and the function of teaching playback of the industrial robot needs to be realized by using the teaching system.Mainly aimed at the problems in the existing robot teaching system,such as high cost of maintenance,poor portability and complicated operation,etc.,a kind of teaching system by the gesture controlled robot based on Android platform is researched and realized in this task.Through analysis to the development situation and function demand of the existing domestic and foreign robots teaching system,it poses the overall design scheme for the gesture controlled robot which is based on Android platform,and designs the key module of the teaching system.Large quantities of research are performed on the scheme for teaching by Android gesture operated robot in this task,and different gestures are used for manipulating the robot.Research is performed to the gesture control,and the problem of shaking in the process of manipulating the robot by gesture has been found.In order to solve the problem of shaking,combined with the practical circumstance of the teaching system,improved clipping filter algorithm is in this task,optimization treatment is performed to the data of gesture control module,and the algorithm is verified,it is shown by the verification result that the algorithm can greatly reduce the problem of shaking in the process of manipulating the robot by gesture.In the process of system design,according to the difference in functions of each module,these modules are planned into the main interface,gesture teaching interface and program editing interface.Among them,the program editing interface is emphatically designed and researched,the features of the programming function of the presently conventional teaching system are analyzed,and combined with the actual circumstance of the robot manipulated by the teaching system,selective input programming is developed in this task.This mode has the advantages of simple and convenient operation compared with traditional means of programming,and operator can finish programming without having to have very strong foundation of programming,in addition,selective input programming can remarkably reduce the problem of grammar error in programming.According to the difference in the transmitted data category,UDP and TCP protocols are concurrently adopted for the communication module of teaching system,and net work communication across platform is realized through Socket.This teaching system has not only been successfully tested on the testing platform,but also been applied in the robot of Beijing Exelstor Technology Co.,Ltd.and Ningbo Intelligent Manufacturing Industry Research Institute,through confirmation by enterprises,the teaching system designed in this task and its promising prospect are verified. |
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