Potassium permanganate is mostly used for lightening denim in the textile industry. It is an inorganic chemical compound and an oxidizing agent. PP is sprayed to denim with a spray gun as microparticles. During the spraying process, these microparticles can be inhaled by workers causing lung diseases in the long term. PP spray is one of the most dangerous practices in the textile industry for the health and safety of workers. Robots can carry out PP spray instead of humans to protect workers’ health. Also, robots offer less labor cost, no labor mistake, fast production, and standardization in every product. The use of robots requires the teaching of tasks to robots. For this teaching procedure, it is necessary to record the teaching tool’s movements with high precision and accuracy. In this study, it is aimed at measuring the position and orientation, i.e. the pose, of the teaching tool in six dimensions using an inertial measurement unit (IMU) and six string encoders. In addition to this, the measured pose information is transferred to a robot manipulator for tracking the recorded trajectory. In that way, the operator’s movements can be copied and then used by robots to regenerate the best product while protecting the health of workers. The pose measurement system was designed and experimentally tested. The obtained results show that the system satisfies accuracy and precision expectations for the target application.

中文翻译：

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基于字符串编码器和IMU的示教工具6D姿态测量系统设计及其在机械手遥操作中的应用

高锰酸钾在纺织工业中主要用于牛仔布的增亮。它是一种无机化合物和氧化剂。PP 以微粒的形式用喷枪喷涂到牛仔布上。在喷洒过程中，工人长期吸入这些微粒会导致肺部疾病。PP 喷雾是纺织行业对工人健康和安全最危险的做法之一。机器人可以代替人类进行PP喷雾，保护工人健康。此外，机器人提供更少的劳动力成本，没有人工错误，生产速度快，每个产品都标准化。使用机器人需要向机器人教授任务。对于该示教程序，需要高精度、准确地记录示教工具的动作。在这项研究中，它旨在使用惯性测量单元 (IMU) 和六个弦编码器在六个维度上测量示教工具的位置和方向，即姿态。除此之外，测量的位姿信息被传输到机器人操纵器以跟踪记录的轨迹。这样，操作员的动作可以被复制，然后由机器人使用，以在保护工人健康的同时再生出最好的产品。设计了位姿测量系统并进行了实验测试。获得的结果表明，该系统满足目标应用的准确度和精度期望。测量的位姿信息被传送到机器人操纵器以跟踪记录的轨迹。这样，操作员的动作可以被复制，然后由机器人使用，以在保护工人健康的同时再生出最好的产品。设计了位姿测量系统并进行了实验测试。获得的结果表明，该系统满足目标应用的准确度和精度期望。测量的位姿信息被传送到机器人操纵器以跟踪记录的轨迹。这样，操作员的动作可以被复制，然后由机器人使用，以在保护工人健康的同时再生出最好的产品。设计了位姿测量系统并进行了实验测试。获得的结果表明，该系统满足目标应用的准确度和精度期望。