Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation
| Autor: | Ambrus Zelei, Roland Reginald Zana |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Double pendulum
Computer science 02 engineering and technology 01 natural sciences law.invention Computer Science::Robotics 010309 optics lighthouse tracking indoor mobile robots law Control theory 0103 physical sciences Applied optics. Photonics Electrical and Electronic Engineering Manipulator Materials of engineering and construction. Mechanics of materials Instrumentation Pose Laser beams pendulum-like manipulator Mechanical Engineering 021001 nanoscience & nanotechnology Motion control Laser TA1501-1820 TA401-492 pose estimation accuracy Robot htc vive 0210 nano-technology 6 dof optical pose estimation |
| Zdroj: | International Journal of Optomechatronics, Vol 15, Iss 1, Pp 32-60 (2021) |
| ISSN: | 1559-9620 1559-9612 |
| DOI: | 10.1080/15599612.2021.1890284 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
| Nepřihlášeným uživatelům se plný text nezobrazuje | K zobrazení výsledku je třeba se přihlásit. |