6DOF industrial robot teaching based on augmented reality
                                                       ZHANG Shilei1, CHEN Chengjun1, LI Dongnian1, HONG Jun2
（1.School of Mechanical and Automotive Engineering, Qingdao University of Technology, qingdao 266000,China;2.School of Mechanical Engineering ,Xian Jiaotong University, Xian 710049, China ）

Abstract: Aiming at inefficiency and poor interactivity for offline robot programming, a 6DOF robot teaching system based on Augmented Reality was proposed. The Pose Tracking System was used to collect position and orientation data of the handheld teaching pendant. Taking the pose of the pendant as input, the pose of each joint of the virtual robot was calculated using inverse kinematics of the robot to drive the movement of the virtual robot to reproduce path and posture of the pendant. The 6DOF robot virtual model was added into a real environment using the augmented reality technology and the virtual robot model was checked to see if a collision has occurred with the real processing environment through augmented reality glasses . The results indicate that the system can accurately superimpose the virtual robot on the real environment, can track the position and orientation of the handheld teaching pendant in real time. The system has good manmachine interaction, and can be widely used in robotic welding, spraying, polishing, assembly and other programming.

Key words: industrial robot teaching programming; augmented reality; position and orientation tracking; teaching reproduction; inverse kinematics