Abstract

Spatial pose estimation devices for mobile and cable-suspended robots have been rapidly developed. The HTC Vive sensor, which operates with swept laser beams, has aroused many researchers’ interest. We present experiments with a double pendulum robot equipped with the HTC Vive Tracker. A linear feedback controller ensured the tracking of pre-defined end-effector trajectories of various speeds. The pose feedback of the controller was provided by the HTC Vive. As a reference, the realized trajectory was measured by the OptiTrack motion capture system. We report that the motion control of a spatial double pendulum robot can be achieved by using a linear feedback controller together with cable winch and fan actuators providing six independent inputs. The accuracy of the HTC Vive was proved to be sufficient for the feedback position control of indoor mobile robots. We report that the error strongly correlates with the linear/angular velocity, the acceleration and the jerk.

摘要

用于移动式和悬挂式机器人的空间姿态估计设备已经得到快速开发。使用扫频激光束的HTC Vive传感器引起了许多研究人员的兴趣。我们介绍了配备HTC Vive Tracker的双摆机器人的实验。线性反馈控制器确保跟踪各种速度的预定义末端执行器轨迹。HTC Vive提供了控制器的姿态反馈。作为参考，通过OptiTrack运动捕捉系统测量了实现的轨迹。我们报告说，可以通过使用线性反馈控制器以及电缆绞盘和风扇执行器来提供六个独立输入，从而实现空间双摆机器人的运动控制。事实证明，HTC Vive的精度足以用于室内移动机器人的反馈位置控制。我们报告说，误差与线/角速度，加速度和加速度率密切相关。