Application of motion capture in automatic control field

In recent years , All walks of life have gradually carried out research on automation equipment , Among them, the development of unmanned aerial vehicle technology and robot technology is particularly rapid , Many universities and scientific research institutions are conducting research on a variety of application scenarios around these two directions .

UAV field

In the field of UAV , The common research direction is multi UAV formation technology , This is called in scientific research “ Multi agent collaborative control ”, Researchers need to locate the UAV , Get its location in space , This position information is mainly six degrees of freedom attitude data , Then establish the communication between multi-agent , Finally, through the control decision system , According to the spatial location of each agent , Complete collaborative control . Through this technology , It can be applied to many fields , Such as military “ swarm ” Combat system , Power grid 、 Unmanned aerial vehicle inspection of pipeline , UAV formation performance in the cultural and entertainment industry , Intelligent construction of unmanned aerial vehicles in the construction industry .

On a 19 The flapping robot of Harbin Institute of technology in the Spring Festival Gala （ Unmanned aerial vehicle (uav) ）

Locate the space position of the UAV , It is the most important part in the research of multi-agent cooperative control , Only get accurate and stable positioning information , In order to control the UAV well . As a traditional method of positioning , Inertial measurement unit （IMU） And inertial navigation module （INS） There is a serious gyro zero drift , Resulting in acquired orientation 、 Posture 、 The accuracy of data such as speed is not high , There is error accumulation , It's hard to work independently for a long time . Optical motion capture system relies on high precision 、 High real time 、 It can simulate the characteristics of the scene in the laboratory environment , It is gradually favored by researchers , The school of automation of Beijing University of technology uses NOKOV Metric optical 3D motion capture system , Obtain the pose information of UAV with sub millimeter accuracy , Combine the communication network and control decision-making system between multiple UAVs, that is, multiple agents , A set of networked multi-agent air ground cooperative control experimental platform has been explored , You can send instructions remotely through the control end , Let the drone 、 Unmanned vehicles carry out designated formation cooperation .

Robot field

Based on the same positioning principle , Robot research is also blossoming in many fields . Applied to industrial manufacturing lines 、 Mechanical arm of logistics warehousing scene , By capturing its modular manipulator and dexterous hand , Get its attitude data , Carry out corresponding control planning ; It can be used in earthquake relief 、 Multi legged robots used in military scenes , Through the joint angle of its foot 、 Capture of speed information , Optimize its movement mode in different environments ; And the disabled 、 Special soldiers are equipped with exoskeleton robots , With the help of optical motion capture system, kinematic gait information such as joint angle is obtained , Optimize the exoskeleton structure , So as to better assist the wearer in many aspects , Rehabilitation robots also use the same principle 、 Humanoid robot, etc .

Hexapod robot - Shanghai Jiaotong University

besides , There are also many kinds of robot research in progress , Such as the College of mechanical and electrical engineering and automation in Shenzhen Campus of Harbin Institute of Technology , The application of optical motion capture system to flapping wing robot “ trunk ”、“ Wing ” Do location analysis , Optimize its flight attitude ; In the same laboratory , Another research group captures the precise movements of human hands through optical motion capture system , Build a humanoid mobile phone device human , It is intended to improve the efficiency of assembly of small parts on the assembly line , The user has sent two articles based on the experiment EI The paper , It proves the effectiveness of the experiment . 

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Distributed collaborative control of multi-agent system _6DOF location _ Manipulator positioning motion planning _ Measurement technology NOKOV Measurement can realize high-precision real-time indoor positioning and motion tracking , Collect kinematics data such as six degrees of freedom pose data and joint angle . The obtained data can be obtained through VRPN transmission , Or through SDK（C++ Language ） Port broadcast and ROS、Labview、Matlab（ contain Simulink） Wait for software communication for secondary development https://www.nokov.com/motion-capture-Robotics-uav-engineering.html Classic case | NOKOV Measure motion capture Classic case https://www.nokov.com/support/case_studies.html#case-list-1