Embedded Teaching System Design for Multi-jointed Robots

摘要

This work describes the development of a novel embedded teaching system for multi-jointed robots using I2C communication protocol. The proposed teaching system includes a small teaching robot, a real robot, and an embedded electrical control system. By dragging the teaching robot motion, the main control board receives voltage signals from the teaching robot and transforms them into position command for the motion of each joint. All the position commands are recorded on the main control board using a desired sample rate. In the teaching mode, trajectory teaching can be done naturally without expertise. The experimental results demonstrate the feasibility of the proposed teaching system.