A demonstration tool with Kalman filter data processing for robot programming by human demonstration

This paper presents a modular demonstration tool for robot programming by human demonstration and an approach for the calibration of the tool´s sensors. The tool is equipped with a wrench sensor, twelve LED markers for fast and accurate six dimensional position tracking with the Krypton K600 camera system, a compact camera and a laser distance sensor. A gripper mechanism is mounted on the tool for grasping and manipulating objects. The design of the tool specifically focused on the demonstration of compliant motion task, with applications in manipulation and assembly tasks. The calibration approach first uses an extended Kalman Filter to convert the measured positions of three to twelve visible LED´s into the pose of the tool frame relative to the Krypton camera frame. Then, using a non minimal state Kalman filter, the force sensor calibration parameters are calculated, and the orientation of the Krypton camera frame relative to the world frame is defined. This calibration approach is verified in a real world experiment.