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Updated: Sep 5, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Affordable Motion Tracking System for Intuitive Programming of Industrial Robots
Martin Švejda1, Martin Goubej1, Arnold Jáger1
1NTIS Research Centre, Faculty of Applied Sciences, University of West Bohemia, 30100 Pilsen, Czech Republic.
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.
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