Getting started #
The RobPathRec Kit uses HTC Vive Pro Tracker and Valve 2.0 Base Stations. The system was originally developed for gaming, hence gaming area and similar terms are used in the instructions.
The official installation guide suggests the following:
Deviations from the HTC System:
- RobPathRec does not use a headset
- RobPathRec only uses one tracker
- When using RobPathRec, the positioning height of the Base Stations is not dependent on body size, but on the application
Operating Principle #
Each Base Station has 2 lasers. One laser scans the room horizontally, the other vertically.
The tracker detects the laser beams using photodiodes and calculates the position and rotation accordingly.
Possible arrangements #
Base Stations are on one side #
RobPathRec Pen always looks in the direction of the Base Stations, no rotation around the Z axis is needed.
Base Stations are set up against each other #
RobPathRec Pen is rotated around the Z axis during recording → it must be ensured that at least 2 laser beams have a line of sight to at least 5 photodiodes.
Best Positioning & Other Influencing Factors #
The Base Stations do not need line of sight to each other to work in sync
- The Tracker needs to detect at least 2 laser beams to determine position and location.
- The 2 laser beams can also come from one Base Station.
- For increased accuracy, it is better if both Base Stations have direct line of sight to the Tracker
- The two Base Stations can also be positioned opposite each other.
IMPORTANT: The Tracker is installed on the Teach Pen at a 45° angle. When the Teach Pen is rotated 180° around its axis, only the photodiodes on the back of the Tracker can detect the laser beams and the accuracy decreases. ALWAYS POSITION THE BASE STATIONS SO THAT THE TRACKER HAS DIRECT LINE OF SIGHT DURING THE ENTIRE RECORDING! - Ideally, the Base Stations should look down at the Tracker so that the Z movements can also be correctly detected. Due to the 45° angled arrangement, the RobPathRec Tool is quite tolerant.
- The Base Stations have a motor built-in, which can cause vibrations. Use as stable mountings as possible (e.g., the supplied magnetic feet). Depending on the quality, tripods can transmit vibrations. At least 5 photodiodes should be hit by the laser beams to achieve correct location information. The more diodes are detected by the laser beams, the higher the accuracy.
- Therefore, place Base Stations at least 1 m away from the Tracker.
- Always try to detect the Tracker with laser beams from different angles with the Base Stations. This increases the number of photodiodes hit and thus the accuracy.
- Always keep the surface of the Base Stations clean and undamaged. Damages and deposits absorb the laser beam and it will not hit the photodiodes of the Tracker.
- You can remove the Base Stations from the work area while the robot is processing to avoid deposits on the surface of the Base Station and damage.
- Also, keep the tracker surface clean and protect it from damage.
Connecting with the computer #
- Plug in the USB Dongle from the RobPathRec Kit
- Turn on the Tracker. Hold the triangle for a few seconds until the control LED lights up.
3. Start SteamVR Software. SteamVR is installed on the PC with the installation of the RobPathRec App.
If the Tracker and the Base Stations have been correctly recognized, you will see the following:
Standby mode
The Tracker switches off after a few minutes of inactivity. If you close SteamVR, the connection between the Tracker and the computer is interrupted and the Tracker switches off.
