Kinematic analysis of a 6-DOF wire-based tracking device and control strategy for its application in robot easy programming

Robot easy programming is a keen requirement in GI (General Industrial) company using low skilled people. This paper deals with the problem of a novel active, online, lead-through robot programming method based on a 6-DOF wire-based tracking device, RoboPuppet, with the 3-2-1 configuration. The kinematics analysis of this configuration is addressed by finding analytic expressions for the unique solution of the pose of the RoboPuppet relative to the robot TCP, and estimating the pose error due to the dimension deviations of the wire-based tracking device. Three different control strategies are analyzed for its application in robot easy programming. The time delay in the information transmission is also discussed.