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Title of Journal: Int J Adv Manuf Technol

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Abbravation: The International Journal of Advanced Manufacturing Technology

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Springer London

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DOI

10.1007/bf00557935

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1433-3015

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Stereobased realtime 6DoF work tool tracking fo

Authors: Marcos Ferreira Paulo Costa Luís Rocha A Paulo Moreira
Publish Date: 2014/06/13
Volume: 85, Issue: 1-4, Pages: 57-69
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Abstract

This contribution presents a new system for fast and intuitive industrial robot reprogramming It is based on a luminous marker built with highintensity LEDs which are captured by a set of industrial cameras Using stereoscopy the marker supplies 6DoF 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 lowcost starting with a single pair of industrial cameras though more can be used for improved effectiveness and accuracy The realtime 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

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