METHOD FOR TRAJECTORY TRAFFIC INDUSTRIAL ROBOT TEACHING

摘要

The method can be used in the training of a trajectory movement industrial robot. The method provides increased dynamics and quality of the training process with no requirements for equivalence or similarity of the kinematic structure of the dummy to that of the manipulating operation body under which conditions the dummy can be fixed at a convenient place inside or outside the operational location of the robot. By this method the sensors for position are recalculated in Descartes coordinates and orientations of the peak of the operational body in respect to the Descartes co-ordination system connected to the foundation of the manipulating body of the robot. By solving the reverse kinematic problem for the kinematic structure of the manipulating body these indications are recalculated into assigned for the corresponding axes and are memorized.