Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our...
| Váldodahkkit: | , , , , |
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| Materiálatiipa: | Artihkal |
| Giella: | English |
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MDPI AG
2022-06-01
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| Ráidu: | Sensors |
| Fáttát: | |
| Liŋkkat: | https://www.mdpi.com/1424-8220/22/13/4962 |
| Čoahkkáigeassu: | The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper’s theoretical contribution. The motion tracking system is successfully deployed in a pilot application of robot-assisted spray painting. |
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| ISSN: | 1424-8220 |