基于9D IMU的工业机器人体感示教器研究

摘要

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.%为适应机器人灵活多变的任务需求,提出了一种基于STM32和9轴惯性传感器(9D Inertial Measurement Units)LSM9DS1的机器人体感示教方案,阐述了体感示教器的硬件结构、 软件结构及LSM9DS1的数据融合算法.结果表明,该示教器通过体感与按键结合的方案,简化了示教操作,能够稳定快速地完成机器人示教任务,降低了对操作者的技术要求,有效提升了操作者的示教效率.