Affordable Motion Tracking System for Intuitive Programming of Industrial Robots

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dc.contributor.authorŠvejda, Martin
dc.contributor.authorGoubej, Martin
dc.contributor.authorJáger, Arnold
dc.contributor.authorReitinger, Jan
dc.contributor.authorSevera, Ondřej
dc.date.accessioned2023-01-02T11:00:09Z
dc.date.available2023-01-02T11:00:09Z
dc.date.issued2022
dc.description.abstract-translatedThe 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.en
dc.format28 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationŠVEJDA, 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: 1424-8220cs
dc.identifier.document-number825704400001
dc.identifier.doi10.3390/s22134962
dc.identifier.issn1424-8220
dc.identifier.obd43936553
dc.identifier.uri2-s2.0-85133124333
dc.identifier.urihttp://hdl.handle.net/11025/50797
dc.language.isoenen
dc.project.IDFV20597/Nová technologie pro inteligentní plánování pohybu robotů v průmyslových procesechcs
dc.project.ID8A20013/CHARM - Challenging environments tolerant Smart systems for IoT and AIcs
dc.publisherMDPIen
dc.relation.ispartofseriesSENSORSen
dc.rights© authorsen
dc.rights.accessopenAccessen
dc.subject.translatedindustrial robotsen
dc.subject.translatedmotion trackingen
dc.subject.translatedpose estimationen
dc.subject.translatedtrajectory planningen
dc.subject.translatedlead-through programmingen
dc.subject.translatedcollaborative roboticsen
dc.subject.translatedHTC Viveen
dc.subject.translatedmotion controlen
dc.subject.translatedspray coatingen
dc.titleAffordable Motion Tracking System for Intuitive Programming of Industrial Robotsen
dc.typečlánekcs
dc.typearticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

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