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...

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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
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author Švejda, Martin
Goubej, Martin
Jáger, Arnold
Reitinger, Jan
Severa, Ondřej
author_facet Švejda, Martin
Goubej, Martin
Jáger, Arnold
Reitinger, Jan
Severa, Ondřej
author_sort Švejda, Martin
collection PubMed
description 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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spelling pubmed-92697102022-07-09 Affordable Motion Tracking System for Intuitive Programming of Industrial Robots Švejda, Martin Goubej, Martin Jáger, Arnold Reitinger, Jan Severa, Ondřej Sensors (Basel) Article 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. MDPI 2022-06-30 /pmc/articles/PMC9269710/ /pubmed/35808453 http://dx.doi.org/10.3390/s22134962 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Švejda, Martin
Goubej, Martin
Jáger, Arnold
Reitinger, Jan
Severa, Ondřej
Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title_full Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title_fullStr Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title_full_unstemmed Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title_short Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
title_sort affordable motion tracking system for intuitive programming of industrial robots
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9269710/
https://www.ncbi.nlm.nih.gov/pubmed/35808453
http://dx.doi.org/10.3390/s22134962
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