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.
In this project, we sensorized a tool with reflective marker in order to track its position and orientation in time and reproduce the trajectory with a anthropomorphic robot.
This project has been realized at the Vision Bricks Laboratory (VBLAB), Politecnico di Milano in collaboration with ABB Robotics Italy
Full Tile Painting
3D Painting (Bowl)