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Updated: Sep 5, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
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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.
Sensors (Basel, Switzerland)
|July 9, 2022
Summary
This study introduces an automated robot programming method using a novel motion-tracking system. It enables precise reproduction of human-demonstrated industrial robot trajectories for tasks like spray painting.
Area of Science:
- Robotics
- Human-Robot Interaction
- Computer Vision
Background:
- Industrial robot programming traditionally requires complex and time-consuming methods.
- Manual robot teaching can be inefficient and prone to errors.
- Automating trajectory reproduction is crucial for enhancing manufacturing flexibility.
Purpose of the Study:
- To develop an automated lead-through programming method for industrial robots.
- To enable accurate reproduction of six Degrees of Freedom (6DoF) tool trajectories demonstrated by human operators.
- To present a novel motion-tracking system for robot teaching automation.
Main Methods:
- A new motion-tracking system was developed, integrating the HTC Vive pose estimation technology.
- Algorithmic solutions for system calibration and motion data post-processing were designed.
- The system was tested and validated through a pilot application in robot-assisted spray painting.
Main Results:
- The developed system successfully automates the robot teaching process.
- High-fidelity reproduction of 6DoF trajectories was achieved.
- The pilot deployment demonstrated the system's effectiveness in a practical industrial task.
Conclusions:
- The novel motion-tracking system offers a complete automation solution for industrial robot programming.
- The theoretical contributions in system calibration and data post-processing enhance the method's robustness.
- This approach significantly improves the efficiency and accuracy of robot trajectory programming.
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