Study on teaching path reconstruction algorithm based direct teaching and playback method

摘要

This paper proposes a method for realization of the direct teaching and playback method. For the purpose of reducing errors between the reference and the teaching data, the technique which is nearly not related with a time difference is introduced as a concept of updating data. Direct teaching means that the manipulator is activated by operator's intention, and the teaching data is collected during the teaching process. The collected data which contains the operator's uncertainty and disturbance is compressed by the Douglas-Peuker (DP) algorithm. Which made the collected data is simplified to a more feasible trajectory for the automated robotic deburring. Then at the playback process the repulsive direction vector is employed for correcting the moving direction of the deburring tool. And laser finder is used to measure the position error which occurred during the exchanging and reloading workpiece. Data mapping algorithm is applied to reconstruct the teaching path. 6-DOF deburring robot is employed for validating the feasibility of the proposed method and algorithm.