In order to meet the flexible task of the robot needs, a design of robot somatosensory teaching pendant based on STM32 and 9-axis (9D) Inertial Measurement Units (IMU) LSM9DS1 is proposed. The hardware and software architecture was explained. In addition, the LSM9DS1 data fusion algorithm was proposed. The result shows that the teaching in implement can simplify the teaching operation by the combination of somatosensory and keypress, which can stably and quickly complete the teaching task of the robot. It reduces the technical requirement to the operator and enhances the teaching efficiency of the operator effectively.
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姜华,孙恺.基于9D IMU的工业机器人体感示教器研究[J].机床与液压,2018,46(9):34-37. . Study of Industrial Robot Somatosensory Teaching Pendant Based on 9D MEMS-IMU[J]. Machine Tool & Hydraulics,2018,46(9):34-37