The paper studies how multi-camera systems can be used for registering trajectories. A sensorized tool (a paintbrush) has been used to track the movements of a painter. Its position and its orientation is recorded using a rigid body registration technique on the reflective spheres, which generates its trajectory. Additional treatments for smoothing the acquired trajectory enable a robot to reproduce its movement. Such technique for the registration of tool movements relieves the robot programmer of a fastidious trajectory planning and remarkably quickens the programming phase.

A robot trajectory programming method using multi-camera systems

GIANCOLA, SILVIO;SALA, REMO
2014

Abstract

The paper studies how multi-camera systems can be used for registering trajectories. A sensorized tool (a paintbrush) has been used to track the movements of a painter. Its position and its orientation is recorded using a rigid body registration technique on the reflective spheres, which generates its trajectory. Additional treatments for smoothing the acquired trajectory enable a robot to reproduce its movement. Such technique for the registration of tool movements relieves the robot programmer of a fastidious trajectory planning and remarkably quickens the programming phase.
Mechatronic and Embedded Systems and Applications (MESA)
978-1-4799-2280-2
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1012957
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