Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Autor:	Roland R. Zana, Ambrus Zelei
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	pose estimation accuracy htc vive lighthouse tracking 6 dof optical pose estimation pendulum-like manipulator indoor mobile robots Materials of engineering and construction. Mechanics of materials TA401-492 Applied optics. Photonics TA1501-1820
Zdroj:	International Journal of Optomechatronics, Vol 15, Iss 1, Pp 32-60 (2021)
Druh dokumentu:	article
ISSN:	1559-9612 1559-9620 15599612
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:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/79020b3fa2af42998b9c6706116290af Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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