Title:	Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
Authors:	Švejda, Martin Goubej, Martin Jáger, Arnold Reitinger, Jan Severa, Ondřej
Citation:	ŠVEJDA, M. GOUBEJ, M. JÁGER, A. REITINGER, J. SEVERA, O. Affordable Motion Tracking System for Intuitive Programming of Industrial Robots. SENSORS, 2022, roč. 22, č. 13, s. 1-28. ISSN: 1424-8220
Issue Date:	2022
Publisher:	MDPI
Document type:	článek article
URI:	2-s2.0-85133124333 http://hdl.handle.net/11025/50797
ISSN:	1424-8220
Keywords in different language:	industrial robots;motion tracking;pose estimation;trajectory planning;lead-through programming;collaborative robotics;HTC Vive;motion control;spray coating
Abstract in different language:	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.
Rights:	© authors
Appears in Collections:	Články / Articles (NTIS) Články / Articles (KKY) OBD

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