Design of a String-Encoder and IMU Based 6D Pose Measurement System

Yavuz E., ŞENOL Y., Ozcelik M., Aydm H.

11th International Conference on Electronics, Computers and Artificial Intelligence (ECAI), Pitesti, Romanya, 27 - 29 Haziran 2019 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/ecai46879.2019.9042021
  • Basıldığı Şehir: Pitesti
  • Basıldığı Ülke: Romanya
  • Anahtar Kelimeler: pose measuring, tool tracking system, movement record, sensor system, inertial measurement unit (IMU), string-encoder, VISION
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

Industrial robots have been a part of industrial production for a long time and they are expanding their sphere of influence with developing technologies. The use of robots requires the teaching of tasks to robots. For this teaching procedure, it is necessary to record the teaching tool's movements in high precision and accuracy. In this paper, it is aimed to measure the position and orientation, in other words the pose of the teaching tool in six dimensions using an inertial measurement unit and four string-encoders attached to the teaching tool. Then, the measured pose information can be transferred to a robot manipulator for tracking the recorded trajectory of the teaching tool. In that way, operator's movement can be copied and then used by robots to reproduce best product which has been produced by the operator. The 6D pose measurement system was designed and experimentally tested, and the obtained results show that the system satisfies accuracy and precision expectations for target applications.