Intuitive 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. Differing from the traditional teaching panel method, the proposed method does not require any complex computations for coordinate transformation and is a simpler scheme. The proposed teaching system includes a small teaching robot, which is scaled to the real jointed robot, however, joints are replaced with potentiometers. An embedded electrical control system contains the main control board and joint control cards. The main control board receives voltage signals from the teaching robot and transforms them into position commands for the motion of each joint. All the position commands are recorded on the main control board using the desired sample rate. In trajectory planning mode, the operator drags the teaching robot to generate the desired motion. The electrical control system drives the real jointed robot in response to the received voltage signals from the teaching robot. Trajectory teaching can be done naturally without expertise. The teaching system architecture, control board design and program flowchart are described and implemented.