Stereo-based real-time 6-DoF work tool tracking for robot programing by demonstration

• Tipo: Artigo em Revista Científica Internacional
• Data: 2016

Autores

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

Revista

Título: International Journal of Advanced Manufacturing Technology

Vol. 85

Páginas: 57-69

ISSN: 0268-3768

Editora: Springer Nature

Indexação

ISI Web of Knowledge - 73 Citações

Scopus - 35 Citações

Outras Informações

ID Authenticus: P-00A-8TA

DOI: 10.1007/s00170-014-6026-x

Abstract (EN): This contribution presents a new system for fast and intuitive industrial robot reprogramming. It is based on a luminous marker built with high-intensity LEDs, which are captured by a set of industrial cameras. Using stereoscopy, the marker supplies 6-DoF human wrist tracking with both position and orientation data. This marker can be efficiently attached to any working tool which then provides a way to capture human skills without further intrusion in the tasks. The acquisition technique makes the tracking very robust against lighting conditions so no environment preparation is needed. The robot is automatically programmed from the demonstrated task which delivers complete abstraction of programming concepts. The system is able to perform in real time, and is low-cost starting with a single pair of industrial cameras though more can be used for improved effectiveness and accuracy. The real-time feature means that the robot is ready to perform as soon as the demonstration is over which carries no overhead of reprogramming times. Also, there is no interference with the task itself since the marker is attached to the work tool and the tracking is contactless; the human operator can then perform naturally. The test bed is a real industrial environment: a spray painting application. A prototype has been developed and installed, and is currently in operation. The tests show that the proposed system enables transferring to the machine the human ability of manipulating a spray gun.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13