Three-Dimensional Path-Following with Articulated 6DoF Robot and ToF Sensors

This paper presents an algorithm for 3D path-following using an articulated 6-Degree-of-Freedom (DoF) robot as well as experimental verification of the proposed approach. This research extends the classic line-following concept, typically applied in 2D spaces, into a 3D space. This is achieved by equipping a standard industrial robot with a path detection tool featuring six low-cost Time-of-Flight (ToF) sensors. The primary objective is to enable the robot to follow a physically existing path defined in 3D space. The developed algorithm allows for step-by-step detection of the path’s orientation and calculation of consecutive positions and orientations of the detection tool that are necessary for the robot arm to follow the path. Experimental tests conducted using a Nachi MZ04D robot demonstrated the reliability and effectiveness of the proposed solution.