初学者机器人姿势检测方向.pdfVIP

Pose Sensors – Detect Orientation Robotics Beginner Course – 11 Young Joon Kim Topics • Build basic environment • Detect Orientation of robot with VPL Build Basic Environment Pose Sensor Service • Pose Sensor Service in VPL (Pose information) – Provides Position (x, y, z) of entity and robot – Provides Orientation (x, y, z) – Provides Velocity – Provides Acceleration – Provides LinearAcceleration and AngularAcceleration – Provides Distance – Provides LinearDis cement and AngularDis cement – Provides Interval Build basic environment • Start with basic environment Build basic environment • Add “AddLegoNXTTribot” command Build basic environment • Change robot name with “lego1” Build basic environment • Add “UpdateCameraView” command Build basic environment • Change the value of “/EyePosition:” as follows – /EyePosition:1 0.5 1 Build basic environment • Add “FlushScript” command Build basic environment • Save the script with the name of “script/Pose3.txt” Build basic environment • Executed result Detect Orientation of robot with VPL Detect Orientation of robot with VPL • Build diagram to load basic sim environment Detect Orientation of robot with VPL • Add diagram to make robot turn around Detect Orientation of robot with VPL • Add a “Data” activity and “SPL Pose Sensors” • Connect “Data” and “SPLPoseSensors” Detect Orientation of robot with VPL • Choose “PoseSubscribe” • Choose “value” Detect Orientation of robot with V