An Intuitive Teaching System Using Sensor Fusion and 3D Matching

摘要

In this paper, a fast intuitive system for robot teaching based on sensor fusion and 3D shapes matching technology is presented. The off-line robot programming technique has been developed for a few years. However, many intuitive ways are set up complex system which always need relatively high initial investment in software and workers' training. In this paper, we also present a system to program an UR robot in an intuitive way, which allow users, even non-expert workers, to program robot more simple and faster, what's more, this system which is much easier to implement is simply and inexpensive, making it more vulnerable to be widely used, especially in small and medium enterprises. In this system, a human-robot interaction system has been designed, a 3D registration algorithm is proposed for the matching between virtual 3D model and real work piece. Once the registration is completed, the system can convert any cloud point data from the virtual 3D model into the corresponding points on the real work piece. In addition, the great deal of information included in the 3D model makes the tool orientation teaching more easily. We aim to create an easy-to-use robot programming system which could be accessible to anyone without professional skills, and this system is required to be high efficiency and precision. Additionally, it's safe because of users do not need to be physically closed to the machine working environment.