Design And Implementation Of The Robot Teaching System Based On Optical Motion Capture

With the development of industrial technology,robot teaching technology is also in progress.As for the traditional teaching operation process,it not only requires the operating staff to learn relevant knowledge of robot control but also need to learn programming knowledge.However,it is time-consuming and labor-intensive,not intelligent enough and has a mediocre interactive performance.In this paper,the optical motion capture system is used to collect the teaching data information,and a robot teaching system based on optical motion capture is designed.The operator utilizes the optical motion capture system to collect the movement trajectory of the teaching tool,and then converts it into the robot command and sends it to the robot to control the robot so as to complete the teaching.The research contents mainly include the following three aspects:(1)In order to send the trajectory data to the robot to complete the teaching process,the algorithm of teaching system is designed and implemented to calibrate the robot,teaching tool and teaching board in the reference frame of motion capture system.Coordinate transformation is carried out for the position and pose of the teaching tool relative to the teaching board.(2)The functional requirements of teaching system are analyzed,the overall design scheme of the robot teaching system based on optical motion capture is presented,and the robot teaching method is designed.The optical motion capture system is used to collect the motion track of the teaching tool relative to the teaching board.The collected teaching trajectory data are sent to the robot to complete the teaching process,and the robot,teaching tools and teaching boards are calibrated under the reference frame of the optical motion capture system.Then,TF tools in the ROS system are used to manage all the reference frames in the teaching system and coordinate transformation of the teaching data is realized.(3)QT in ROS system is used to design interactive software of teaching system based on C++ language.By designing the display module of interactive software,ROS control module,data storage module and virtual module of physical equipment,the functions of collection,coordinate transformation and data conversion,system state monitoring,data reading and operation integration are realized.In addition,the virtual simulation system of robot teaching based on optical motion capture was established,and the ROS control module was used to simulate and verify the virtual robot.The result of the virtual robot's repeated teaching trajectory was given in the visual interface of RViz.Experimental verification of the designed robot teaching system is carried out,and three experimental results are given: linear teaching,simple curve teaching and complex curve teaching.Experimental test results show that data collection,interactive control,data processing,trajectory planning and other functions run well,and achieving a good teaching effect,can meet the functional requirements of robot teaching.The robot teaching system designed has the advantages of simple operation and strong interaction.