Development of a virtual teaching pendant system for serial robots based on ROS-I

摘要

The aim of this paper was to present a virtual teaching pendant system for serial industrial robots. Based on Robot Operating System Industrial (ROS-I), the virtual teaching pendant system we designed has the capacity for robot model establishment, direct and inverse kinematics manipulation, as well as motion planning. This virtual teaching pendant system not only contains the main teaching pendant functions but can drive any serial robots in both simulation and real-world. This paper will also highlight the many advantages of this virtual teaching pendant system which can be used as a good teaching tool to help students in understanding robotics. Several demonstrations are made to show the universality and functionality of the virtual teaching pendant system.