New Marker for Real-Time Industrial Robot Programming by Motion Imitation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

Ferreira, M (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; Rocha, LF (Autor) FEUP; António Paulo Moreira (Autor) FEUP; Pires, N (Autor) Outra

Ata de Conferência Internacional

Título: Proceedings - IEEE International Conference on Robotics and Automation

Páginas: 742-747

2014 IEEE International Conference on Robotics and Automation, ICRA 2014

31 May 2014 through 7 June 2014

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 1 Citação

Outras Informações

ID Authenticus: P-00A-8VR

DOI: 10.1109/ICRA.2014.6906937

Abstract (EN): This paper presents a new marker for robot programming by demonstration through motion imitation. The device is based on high intensity LEDs (light emission diodes) which are captured by a pair of industrial cameras. Using stereoscopy, the marker supplies 6-DoF (degrees of freedom) human wrist tracking with both position and orientation data. We propose a robust technique for camera and stereo calibration which maps camera coordinates directly into the desired robot frame, using a single LED. The calibration and tracking procedures are thoroughly described. The tests show that the marker presents a new robust, accurate and intuitive method for industrial robot programming. The system is able to perform in real-time and requires only a single pair of industrial cameras though more can be used for improved effectiveness and accuracy.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6