Teaching of a Welding Robot : An intuitive method using virtual reality tracking devices

Sammanfattning

In this research, the use of the SteamVR tracking system as a teaching method forindustrial robots was investigated, in particular, how it can make the setup of weldingapplications more intuitive. Therefore, an application was developed, that handles therecording of the teaching data and the control of the robot, which allow fast setup timesof a few minutes only. Tests were conducted and a static accuracy of 10 mm determinedat the TCP. This is not sufficient for welding. Further investigation of the tracking systemshowed directional dependencies, a slow dynamic response of the tracking, which can addanother 10 mm of error, and deviations at the pose determination between 3 and 20 mm,making this tracking setup only usable for applications, where no precision is needed.