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...

Descripción completa

Detalles Bibliográficos
Autores principales: Švejda, Martin, Goubej, Martin, Jáger, Arnold, Reitinger, Jan, Severa, Ondřej
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9269710/
https://www.ncbi.nlm.nih.gov/pubmed/35808453
http://dx.doi.org/10.3390/s22134962
Descripción
Sumario: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.

Ejemplares similares