3D Motion tracking

Demonstration tool This tool contains: (i) a small video camera, (ii) 12 LEDs for the K-600 position measurement system, and (iii) a manual grasp mechanism.

Demonstration of a stacking task The video shows the demonstration of a stacking task: the tool's position and orientation are sent over realtime ethernet from the K600 end-point measurement system to the Orocos controller of the robot.

The tool has 12 LEDS, of which only three must always be be visible; in practice, this limits the orientation motion range to roughly 100 degrees.