A Teaching System For Serial Robots Under Ros-I

The teaching pendant, aiming to teach robots and control it, is an essential subsystem of industrial robots. However, robots from different manufacturers have different programming languages and interactive modes. If a new robot is built, robot's developers have to rebuild the teach pendant meanwhile robot's users have to restart learning how to use it. In addition, all teaching boxes can not work without connecting with robots thus it is inefficient to teach robots by keeping the teach pendant in hand. In this paper, a teaching system is proposed based on Robot Operating System Industrial (ROS-I). There are some improvements compared with other teach pendants. Firstly, it packages functions into different plug-ins, improving the flexibility for both robot users and developers. Secondly, we build the simulation environment using Gazebo. Thirdly, voice control module allows robot users to use robots easily without teaching pendant.