Affordable Motion Tracking System for Intuitive Programming of Industrial Robots

Autor:	Martin Švejda, Martin Goubej, Arnold Jáger, Jan Reitinger, Ondřej Severa
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	industrial robots motion tracking pose estimation trajectory planning lead-through programming collaborative robotics Chemical technology TP1-1185
Zdroj:	Sensors, Vol 22, Iss 13, p 4962 (2022)
Druh dokumentu:	article
ISSN:	1424-8220
DOI:	10.3390/s22134962
Popis:	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.
Databáze:	Directory of Open Access Journals
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