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CN116852359A - TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device - Google Patents

TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device Download PDF

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Publication number
CN116852359A
CN116852359A CN202310808658.4A CN202310808658A CN116852359A CN 116852359 A CN116852359 A CN 116852359A CN 202310808658 A CN202310808658 A CN 202310808658A CN 116852359 A CN116852359 A CN 116852359A
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China
Prior art keywords
demonstrator
mechanical arm
tcp
hand
teaching device
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Pending
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CN202310808658.4A
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Chinese (zh)
Inventor
樊辰阳
周之雄
黄平
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Wuxi Stial Technologies Co ltd
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Wuxi Stial Technologies Co ltd
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Priority to CN202310808658.4A priority Critical patent/CN116852359A/en
Publication of CN116852359A publication Critical patent/CN116852359A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1692Calibration of manipulator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095Means or methods for testing manipulators
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The application relates to the technical field of industrial robots, in particular to a TCP rapid calibration device based on a robot hand-held teaching device, which comprises a binocular infrared camera, a hand-held teaching device, a workpiece to be processed, a processing tool, a mechanical arm body, a teaching controller, a mechanical arm control cabinet and a main control computer, wherein the hand-held teaching device comprises a teaching positioning device body, an IMU9 shaft gesture sensor, an infrared LED lamp, a flange plate, a wireless communication module and a starting button, the infrared LED lamp is installed at the center of the top end of the positioning device body, the flange plate is installed at the bottom end of the positioning device body, and a wireless communication module is embedded above the front surface of the positioning device body. According to the application, the head of the handheld demonstrator is connected with the processing tool, the handheld demonstrator is operated to simulate the mechanical arm body to be contacted with a workpiece to be processed, the contact method corresponds to the mechanical arm six-point calibration method of the steps, and when the placement position of each time is confirmed, the button is pressed to record pose information of each time.

Description

TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device
Technical Field
The application relates to the technical field of industrial robots, in particular to a TCP rapid calibration device and method based on a robot hand-held teaching device.
Background
In recent years, industrial robots have been used in various fields of industrial manufacture for their advantages of efficient operation, strong versatility, high repeatability, high precision, etc., such as sorting packaged products, painting welded work pieces, etc. When different tools are tied at the tail end of the mechanical arm, the pose calibration of the TCP is needed to accurately perform the subsequent processing steps. The TCP calibration mode is divided into an external reference method and a self-calibration method, an external reference calibration sending system is complex and high in manufacturing cost, the calibration precision is greatly dependent on the precision of the external reference, if the external reference deviates, the influence on the TCP calibration is large, so that the method is difficult to popularize in a large scale in the industrial field, the self-calibration method is divided into a contact type calibration method and a non-contact type calibration method, the contact type calibration method has minimum requirements on equipment, a mechanical arm needs to be operated to contact with the calibration points in different postures, the posture information recorded by each calibration point is calculated to obtain the posture information of the TCP, the position precision of the TCP obtained by the method is high, the application is the widest, and the non-contact type calibration method needs to be provided with a camera or a laser ranging device by a robot, and the precision of the method is also greatly influenced by the influence factors such as equipment and environment.
With rapid development of technology, new TCP calibration modes of mechanical arms are also endless, but achieving balance between measurement accuracy and advance input is a worth of scrutiny.
Disclosure of Invention
In order to solve the problems, the application provides a device and a method for rapidly calibrating a TCP based on a robot handheld teaching device.
The application adopts the following technical scheme that the TCP rapid calibration device based on the robot hand-held teaching device comprises a binocular infrared camera, a hand-held teaching device, a workpiece to be processed, a processing tool, a mechanical arm body, a teaching controller, a mechanical arm control cabinet and a main control computer;
the handheld demonstrator comprises a demonstration positioning device body, an IMU9 shaft gesture sensor, an infrared LED lamp, a flange plate, a wireless communication module and a starting button, wherein the infrared LED lamp is installed at the center of the top end of the positioning device body, the flange plate is installed at the bottom end of the positioning device body, the wireless communication module is embedded above the front surface of the positioning device body, the starting button is embedded below the wireless communication module on the front surface of the positioning device body, and the IMU9 shaft gesture sensor is embedded on the top end of the side wall of the positioning device body;
the head of the handheld demonstrator is used for connecting a processing tool, collecting the space pose data of the processing tool and then sending the space pose data to the demonstrator through the wireless communication module;
the teaching controller acquires pose information of the processing tool acquired by the handheld teaching device, the pose information is processed by a six-point method of the robot to calibrate a tool coordinate system TCP, and pose conversion data of the tool coordinate system relative to the handheld teaching device is transmitted to the main control computer;
the main control computer transmits pose transformation matrix data of the processing tool coordinate system relative to the handheld demonstrator to the mechanical arm control cabinet;
the mechanical arm body directly processes the workpiece, and TCP calibration operation of the body is not needed.
As a further description of the above technical solution: the infrared LED lamps are provided with five lamps, infrared images are obtained through real-time shooting of the binocular infrared cameras and transmitted to a computing unit of the teaching controller, the directions of the infrared lamps are obtained, and pose information of the handheld teaching device is fitted through the PnP algorithm by utilizing the position information of the five non-coplanar infrared lamps.
As a further description of the above technical solution: the IMU 9-axis attitude sensor comprises a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer, three-axis acceleration, rotation speed and rotation acceleration information are respectively obtained, the 3-axis magnetometer performs yaw correction on the front six-axis data, the infrared LED lamp positioning and the IMU sensor are combined, the attitude information is used for correcting error drift generated by the IMU, and more accurate position and attitude information of the handheld demonstrator is obtained.
As a further description of the above technical solution: and inputting the base coordinate system of the mechanical arm body in advance, wherein the pose transformation of the handheld demonstrator corresponds to the pose transformation of the connecting rod at the tail end of the mechanical arm body every time, and acquiring the pose information of the handheld demonstrator relative to the base coordinate system of the mechanical arm body by moving the handheld demonstrator.
As a further description of the above technical solution: the TCP coordinate system of the processing tool is obtained by moving the handheld demonstrator instead of the moving operation of the mechanical arm body, so that the moving position of the handheld demonstrator is required to be the reachable range of the mechanical arm body.
In addition, the application also discloses a TCP rapid calibration method based on the robot hand teaching device, which comprises the following steps:
s01: the binocular infrared camera is arranged above the machining workbench, the visual field range of the binocular infrared camera is ensured to cover the teaching range of the handheld demonstrator, namely the machining workbench range of the mechanical arm body, and an operator finishes teaching by connecting the handheld demonstrator with a machining tool;
s02: connecting a processing tool on a handheld demonstrator, inputting a base coordinate system of a mechanical arm body into a demonstration controller end, finding an accurate fixed point on a workpiece to be processed as a reference point, starting and moving the processing tool connected on the handheld demonstrator to contact the workpiece by an operator, contacting the processing tool with the fixed point by four different processing tool postures, determining a posture pressing key record each time, and obtaining posture transformation relation data of a pen point coordinate system of the handheld demonstrator relative to the base coordinate system of the mechanical arm body;
s03: controlling the handheld demonstrator to move for a certain distance along the x-axis direction and the z-axis direction respectively, keeping the initial posture before the fixed movement unchanged, and recording the posture transformation relation coefficients of a pen point coordinate system of the handheld demonstrator with three points before and after the movement relative to a mechanical arm body coordinate system;
s04: the TCP pose information calculated by the main control computer is transmitted to the mechanical arm control cabinet, and the machining tool is connected to the flange plate at the tail end of the mechanical arm body and can be directly machined without TCP coordinate system operation.
In the above technical scheme, in the application, the infrared LED marking device in the handheld demonstrator is provided with 5 infrared lamps, and emits infrared light outwards, the infrared light is shot by a binocular infrared camera in real time to obtain an infrared image, the infrared image is transmitted to the calculation unit of the demonstrator to obtain the direction of the infrared lamps, and the pose information of the handheld demonstrator is fitted by using the position information of the five non-coplanar infrared lamps through a PnP algorithm.
According to the application, the head of the handheld demonstrator is connected with the processing tool, the handheld demonstrator is operated to simulate the mechanical arm body to be contacted with a workpiece to be processed, the contact method corresponds to the mechanical arm six-point calibration method of the steps, and when the placement position of each time is confirmed, the button is pressed to record pose information of each time.
Compared with the traditional robot tool TCP calibration method, the method and the device not only continue the precision of TCP calibration, but also greatly improve the efficiency of the robot TCP calibration and the safety of the robot TCP calibration.
Drawings
The application is further explained below with reference to the drawings and examples:
fig. 1 is a schematic structural diagram of a TCP rapid calibration device based on a robot hand-held teaching device according to an embodiment of the present application;
FIG. 2 is a front view of a handheld teach pendant provided in an embodiment of the present application;
fig. 3 is a schematic perspective view of a handheld demonstrator according to an embodiment of the application;
fig. 4 is a top view of a handheld teach pendant provided in an embodiment of the present application.
In the figure: 1. a binocular infrared camera; 2. a hand-held demonstrator; 2a, IMU9 shaft attitude sensor; 2b, an infrared LED lamp; 2c, a flange plate; 2d, teaching positioning device body; 2e, a wireless communication module; 2f, starting a button; 3. a workpiece to be processed; 4. a machining tool; 5. a robot arm body; 6. a teaching controller; 7. a mechanical arm control cabinet; 8. and a main control computer.
Detailed Description
The application is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the application easy to understand. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
Referring to fig. 1 to fig. 4, the embodiment of the present application provides a technical solution: the TCP rapid calibration device based on the robot hand teaching device comprises a binocular infrared camera 1, a hand-held demonstrator 2, a workpiece 3 to be processed, a processing tool 4, a mechanical arm body 5, a teaching controller 6, a mechanical arm control cabinet 7 and a main control computer 8;
the binocular infrared camera 1 is arranged above a workbench, the handheld demonstrator 2 is controlled by an operator after being connected with the processing tool 4, a workpiece 3 to be processed is arranged on the workbench surface and positioned and fastened, the mechanical arm body 5 is arranged near the workbench, and the teaching controller 6 and the mechanical arm control cabinet 7 are communicated with the main control computer 8 to realize data transmission.
The handheld demonstrator 2 comprises a teaching positioning device body 2d, an IMU9 shaft gesture sensor 2a, an infrared LED lamp 2b, a flange plate 2c, a wireless communication module 2e and a starting button 2f, wherein the infrared LED lamp 2b is installed at the center of the top end of the positioning device body 2d, the flange plate 2c is installed at the bottom end of the positioning device body 2d, the wireless communication module 2e is embedded above the front surface of the positioning device body 2d, the starting button 2f is embedded below the wireless communication module 2e on the front surface of the positioning device body 2d, the IMU9 shaft gesture sensor 2a is embedded at the top end of the side wall of the positioning device body 2d, and the flange plate 2c is used for connecting a processing tool 4;
the head of the handheld demonstrator 2 is used for connecting a processing tool 4, collecting the space pose data of the processing tool 4, and then sending the space pose data to the demonstrator controller 6 through the wireless communication module 2 e;
the teaching controller 6 acquires pose information of the processing tool 4 acquired by the handheld teaching device 2, the pose information is processed by a six-point method of the robot to calibrate a tool coordinate system TCP, and pose conversion data of the tool coordinate system relative to the handheld teaching device 2 is transmitted to the main control computer 8;
the main control computer 8 transmits the pose transformation matrix data of the coordinate system of the processing tool 4 relative to the handheld demonstrator 2 to the mechanical arm control cabinet 7;
the mechanical arm body 5 directly processes the workpiece without performing TCP calibration operation of the body.
The infrared LED lamps 2b are provided with five in total, infrared images are obtained through real-time shooting of the binocular infrared camera 1, the infrared images are transmitted to a computing unit of the teaching controller 6, the direction of the infrared lamps is obtained, and pose information of the handheld teaching device 2 is fitted through the PnP algorithm by utilizing the position information of the five non-coplanar infrared lamps.
The IMU 9-axis attitude sensor 2a comprises a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer, three-axis acceleration, rotation speed and rotation acceleration information are respectively obtained, the 3-axis magnetometer performs yaw correction on the front six-axis data, the infrared LED lamp 2b positioning and the IMU sensor are combined, error drift generated by the IMU is corrected through attitude information, and more accurate handheld demonstrator 2 pose information is obtained.
Inputting the basic coordinate system of the mechanical arm body 5 in advance, then, each time the pose transformation of the handheld demonstrator 2 corresponds to the pose transformation of the connecting rod at the tail end of the mechanical arm body 5, and the pose information of the handheld demonstrator 2 relative to the basic coordinate system of the mechanical arm body 5 is acquired by moving the handheld demonstrator 2.
The TCP coordinate system of the processing tool 4 is obtained by moving the handheld demonstrator 2 instead of the mechanical arm body 5, so that the moving position of the handheld demonstrator 2 is required to be the reachable range of the mechanical arm body 5.
In addition, the application also discloses a TCP rapid calibration method based on the robot hand teaching device, which comprises the following steps:
s01: the binocular infrared camera 1 is arranged above a processing workbench, the visual field range of the binocular infrared camera 1 is ensured to cover the teaching range of the handheld demonstrator 2, namely the range of the mechanical arm body 5 processing workbench, and an operator finishes teaching after connecting the handheld demonstrator 2 with the processing tool 4;
s02: connecting a processing tool 4 on a handheld demonstrator 2, inputting a basic coordinate system of a mechanical arm body 5 at the end of a demonstrator controller 6, finding an accurate fixed point on a workpiece 3 to be processed as a reference point, starting and moving the processing tool 4 connected on the handheld demonstrator 2 to contact the workpiece by an operator, contacting the workpiece with four different gestures of the processing tool 4 at the fixed point, determining a gesture pressing key record each time, and obtaining gesture transformation relation data of the pen point coordinate system of the handheld demonstrator 2 relative to the basic coordinate system of the mechanical arm body 5;
s03: the hand-held demonstrator 2 is controlled to move for a certain distance along the x-axis direction and the z-axis direction respectively, the initial posture before the fixed movement is kept unchanged, and the posture transformation relation coefficient of the hand-held demonstrator 2 pen point coordinate system with three points before and after the movement relative to the mechanical arm body 5 coordinate system is recorded;
s04: the TCP pose information calculated by the main control computer 8 is transmitted to the mechanical arm control cabinet 7, and the machining tool 4 is connected to the flange at the tail end of the mechanical arm body 5 and can be directly machined without TCP coordinate system operation.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the foregoing embodiments, and that the foregoing embodiments and description are merely illustrative of the principles of this application, and various changes and modifications may be made without departing from the spirit and scope of the application, and these changes and modifications fall within the scope of the application as hereinafter claimed. The scope of the application is defined by the appended claims and equivalents thereof.

Claims (6)

1. The TCP rapid calibration device based on the robot hand teaching device is characterized by comprising a binocular infrared camera (1), a hand-held teaching device (2), a workpiece to be processed (3), a processing tool (4), a mechanical arm body (5), a teaching controller (6), a mechanical arm control cabinet (7) and a main control computer (8);
the handheld demonstrator comprises a demonstrator body (2 d), an IMU9 shaft attitude sensor (2 a), an infrared LED lamp (2 b), a flange plate (2 c), a wireless communication module (2 e) and a starting button (2 f), wherein the infrared LED lamp (2 b) is installed at the center of the top end of the demonstrator body (2 d), the flange plate (2 c) is installed at the bottom end of the demonstrator body (2 d), the wireless communication module (2 e) is embedded above the front surface of the demonstrator body (2 d), the starting button (2 f) is embedded below the wireless communication module (2 e) on the front surface of the positioner body (2 d), and the IMU9 shaft attitude sensor (2 a) is embedded and installed at the top end of the side wall of the positioner body (2 d);
the head of the handheld demonstrator (2) is used for connecting a processing tool (4), collecting the space pose data of the processing tool (4), and then sending the space pose data to the demonstrator (6) through a wireless communication module (2 e);
the teaching controller (6) acquires pose information of the processing tool (4) acquired by the handheld teaching device (2), the pose information is processed by a six-point method of the robot to calibrate a tool coordinate system TCP, and pose conversion data of the tool coordinate system relative to the handheld teaching device (2) are transmitted to the main control computer (8);
the main control computer (8) transmits pose transformation matrix data of the coordinate system of the processing tool (4) relative to the handheld demonstrator (2) to the mechanical arm control cabinet (7);
the mechanical arm body (5) is used for directly machining a workpiece, and TCP calibration operation of the body is not needed.
2. The device for rapidly calibrating the TCP based on the robot hand-held teaching device according to claim 1, wherein the number of the infrared LED lamps (2 b) is five, infrared images are obtained through real-time shooting of the binocular infrared camera (1), the infrared images are transmitted to a computing unit of the teaching controller (6), the direction of the infrared lamps is obtained, and pose information of the hand-held teaching device (2) is fitted by utilizing position information of the five non-coplanar infrared lamps through a PnP algorithm.
3. The device for quickly calibrating the TCP based on the robot hand-held teaching device according to claim 2, wherein the IMU 9-axis attitude sensor (2 a) comprises a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer, three-axis acceleration, rotation speed and rotation acceleration information are respectively acquired, the 3-axis magnetometer performs yaw correction on the first six-axis data, and the infrared LED lamp (2 b) positioning and the IMU sensor are combined, so that error drift generated by the IMU is corrected by the attitude information, and more accurate hand-held teaching device (2) pose information is acquired.
4. A TCP rapid calibration device based on a robot hand-held teaching device according to claim 3, wherein the base coordinate system of the robot arm body (5) is input in advance, and then the pose transformation of the hand-held teaching device (2) corresponds to the pose transformation of the end connecting rod of the robot arm body (5) each time, and the pose information of the hand-held teaching device (2) relative to the base coordinate system of the robot arm body (5) is obtained by moving the hand-held teaching device (2).
5. The device for quickly calibrating the TCP based on the robot hand teaching device according to claim 4 is characterized in that the TCP coordinate system of the processing tool (4) is obtained by moving the hand teaching device (2) instead of the moving operation of the mechanical arm body (5), so that the moving position of the hand teaching device (2) is required to be the reachable range of the mechanical arm body (5).
6. The device for rapidly calibrating the TCP based on the robot hand-held teaching device according to any one of claims 1 to 5, wherein the calibration method of the device for rapidly calibrating the TCP based on the robot hand-held teaching device comprises the following steps:
s01: the binocular infrared camera (1) is arranged above a processing workbench, the visual field range of the binocular infrared camera (1) is ensured to cover the teaching range of the handheld demonstrator (2), namely the range of the mechanical arm body (5) processing workbench, and an operator is required to use the handheld demonstrator (2) to connect with a processing tool (4) to complete teaching;
s02: connecting a processing tool (4) on a handheld demonstrator (2), inputting a base coordinate system of a mechanical arm body (5) at the end of a demonstrator (6), finding an accurate fixed point on a workpiece (3) to be processed as a reference point, starting and moving the processing tool (4) connected on the handheld demonstrator (2) to contact the workpiece by an operator, contacting the workpiece with four different gestures of the processing tool (4) at the fixed point, determining a gesture pressing key record each time, and acquiring gesture conversion relation data of a pen point coordinate system of the handheld demonstrator (2) relative to the base coordinate system of the mechanical arm body (5);
s03: the hand-held demonstrator (2) is controlled to move for a certain distance along the x-axis direction and the z-axis direction respectively, the initial posture before the movement is fixed and kept unchanged, and the posture transformation relation coefficient of the pen point coordinate system of the hand-held demonstrator (2) with three points before and after the movement relative to the coordinate system of the mechanical arm body (5) is recorded;
s04: the TCP pose information calculated by the main control computer (8) is transmitted to the mechanical arm control cabinet (7), and the machining tool (4) is connected to the flange at the tail end of the mechanical arm body (5) to directly perform machining operation without TCP coordinate system operation.
CN202310808658.4A 2023-07-04 2023-07-04 TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device Pending CN116852359A (en)

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CN202310808658.4A CN116852359A (en) 2023-07-04 2023-07-04 TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device

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Cited By (1)

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CN117644507A (en) * 2023-11-27 2024-03-05 苏州艾利特机器人有限公司 Cooperative robot motion method, apparatus and storage medium

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CN113119077A (en) * 2021-04-30 2021-07-16 哈尔滨工业大学 Industrial robot handheld teaching device and teaching method
CN114227681A (en) * 2021-12-17 2022-03-25 苏州东控自动化科技有限公司 Robot off-line virtual teaching programming method based on infrared scanning tracking
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KR20120038641A (en) * 2010-10-14 2012-04-24 대우조선해양 주식회사 Apparatus and method for robot direct teaching using removable teaching handle and tool coordinate system transformation
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117644507A (en) * 2023-11-27 2024-03-05 苏州艾利特机器人有限公司 Cooperative robot motion method, apparatus and storage medium
CN117644507B (en) * 2023-11-27 2024-06-04 苏州艾利特机器人有限公司 Cooperative robot motion method, apparatus and storage medium

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