Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. Unsurprisingly, the inherently complex and time-consuming nature of this task is one of the factors that are still preventing industrial manipulators from being massively adopted by companies that require a high degree of flexibility in order to cope with limited production volumes and rapidly changing product requirements. In this context, the introduction of sensor-based walk-through programming approaches represents the ideal solution as far as the need to reduce programming complexity and time is concerned. Nevertheless, the main shortcomings of these solutions typically consist in limited reachable velocities during the programming phase due to safety constraints and in relying on open robot controllers. To this regard, this paper proposes a control architecture for walk-through programming of industrial manipulators specifically designed in order to (i) reach high velocities while guaranteeing the operator’s safety; (ii) allow straightforward integration with a generic closed robotic controller. The proposed solution is extensively validated on an industrial manipulator.

传统上，工业机器人由高度专业化的工人编程，他们要么直接用特定于平台的语言编写代码，要么使用专用硬件（示教器）使机器人移动通过所需的通路点。毫不奇怪，这项任务固有的复杂性和耗时性是仍然阻碍工业机械手被需要高度灵活性以应对有限的生产量和快速变化的产品要求的公司大规模采用的因素之一. 在这种情况下，就降低编程复杂性和时间的需要而言，引入基于传感器的遍历编程方法代表了理想的解决方案。尽管如此，这些解决方案的主要缺点通常在于，由于安全限制以及依赖开放式机器人控制器，在编程阶段可达到的速度有限。在这方面，本文提出了一种用于工业机械手演练编程的控制架构，专门设计用于 (i) 在保证操作员安全的同时达到高速；(ii) 允许与通用封闭机器人控制器直接集成。所提出的解决方案在工业机械手上得到了广泛验证。本文提出了一种用于工业机械手演练编程的控制架构，专门设计用于 (i) 在保证操作员安全的同时达到高速；(ii) 允许与通用封闭机器人控制器直接集成。所提出的解决方案在工业机械手上得到了广泛验证。本文提出了一种用于工业机械手演练编程的控制架构，专门设计用于 (i) 在保证操作员安全的同时达到高速；(ii) 允许与通用封闭机器人控制器直接集成。所提出的解决方案在工业机械手上得到了广泛验证。