B. Kaiser, R.A. Tauro, and H. Wörn (Germany)
human machine interaction, unloading system, calibration
This paper presents an intuitive human machine interface based on a laser pointer tool, which can control an indus trial 6-axis serial robot. The laser pointer tool is used to point at objects that should be grasped by the robot. As the position and orientation of the tool can be tracked, the direction of the laser beam is known. This permits the lo calisation of the grasp position in a previously captured 3D pointcloud of the environment. Then a best fit approach is used to optimize the grasp position and to tell the user whether the desired grasp position is valid or not.
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