Teaching device and method for robotic arm

摘要

A teaching device and a teaching method for a robotic arm are disclosed. The teaching device comprises a robotic arm, a control device and a gesture recognition module. The gesture recognition module detects a control gesture signal and transmits the detected control gesture signal to the control device. After receiving the control gesture signal, the control device teaches the robotic arm to move and switches between an arm movement mode and a hand movement mode. In an arm movement mode, the control device, aided by an arm ambient image shown on an eye frame and an arm control gesture, teaches an arm unit to move to a target at a high velocity. In the hand movement mode, the control device, aided by a hand vicinity image shown on an eye-in-hand frame and a hand control gesture, teaches a hand unit to move the processing target at a low velocity.

主权项

1. A robotic arm controlling device for controlling a robotic arm that is disposed at a job site and comprises an arm unit and a hand unit, wherein an eye-in-hand vision device is disposed on the arm unit for capturing a hand vicinity image at a movement end of the arm unit, and an eye-to-hand vision device is disposed at the job site for capturing an ambient image of the robotic arm, the robotic arm controlling device comprising:
a control device disposed at a remote end for moving the robotic arm and receiving images captured by the eye-in-hand vision device and the eye-to-hand vision device, wherein the control device has a monitor showing an eye-to-hand frame and an eye-in-hand frame side by side, wherein the eye-to-hand frame shows an arm ambient image captured by the eye-to-hand vision device and has an arm control gesture area showing an image of control gesture, wherein the eye-in-hand frame shows the hand vicinity image captured by the eye-in-hand vision device and has a hand control gesture area showing the image of control gesture; a gesture recognition device for detecting a control gesture and transmitting a detected control gesture signal to the control device, and showing the image of control gesture in the arm control gesture area or the hand control gesture area; and wherein the control device receives the control gesture signal detected by the gesture recognition device, moves the robotic arm, and divides a movement mode of the robotic arm controlling device for the robotic arm into an arm movement mode and a hand movement mode, wherein in the arm movement mode, the control device aided by the arm ambient image shown on the eye-to-hand frame and an arm control gesture moves the arm unit to a target at a high velocity, wherein in the hand movement mode, the control device aided by the hand vicinity image shown on the eye-in-hand frame and a hand control gesture moves the hand unit to the target at a low velocity.