Abstract
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.
Funder
Ministry of Industry and Trade
ECSEL JU
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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