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1. 发明授权

US06385508B1 Lead-through teach handle assembly and method of teaching a robot assembly 失效
标题翻译：引导式教学手柄组件和教学机器人组件的方法
公开(公告)号：US06385508B1
公开(公告)日：2002-05-07
申请号：US09702571
申请日：2000-10-31
申请人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
发明人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
IPC分类号： G05B1904
CPC分类号： G05B19/423 , B25J9/0081 , G05B2219/39409 , G05B2219/39466 , G05B2219/39529 , G05B2219/40562
摘要： A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot. Motion commands are generated in response to the estimated force to power assist the operator in moving the robot arm. During teaching of the robot, the operator selects either a translational operating mode which limits the movement imparted on the tool only to translational movement, or a rotational operating mode which limits the movement imparted on the tool only to rotational movement.
摘要翻译：公开了一种向机器人教导期望的操作路径和引导教导手柄组件的方法。安装机构将整个手柄组件安装到机器人的臂上。手柄组件还包括由安装机构支撑的手柄。机器人操作者利用手柄组件并抓握手柄以施加外力以移动机器人手臂或操作者而不用手柄组件，直接夹持连接到机器人手臂的工具以将外力施加在工具上。手柄组件的特征在于，万向节将手柄和安装机构相互连接，并且当使用者正在教导机器人时，该手柄与安装机构相互相对于由机器人手臂的平移和旋转移动而相对于安装机构的方位变化。通过设置在手柄组件上的力传感器或通过监测用于移动机器人的电动机的扭矩估计在工具处施加的外力。响应于估计的动力来产生运动命令，以帮助操作者移动机器人手臂。在机器人的教导期间，操作者选择将仅在刀具上施加的运动仅限于平移运动的平移操作模式，或仅将赋予刀具的运动限制为旋转运动的旋转操作模式。

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