Motion Capture Calibration Robot

A detailed description of the Motion Capture Calibration Robot used for accurate motion tracking calibration in the OptiTrack MoCap room.

Overview

The Motion Capture Calibration Robot was developed to improve the accuracy of motion tracking systems within the OptiTrack setup. This robot consists of four control motors that adjust the position of a reflective sphere within a predefined workspace. Each motor controls the tension and length of the cables attached to the sphere, which can be positioned in 3D space using precise control algorithms.

Key Features

• Precise calibration for motion capture systems
• Supports 3 degrees of freedom control
• Uses NEMA 17 stepper motors with TB6600 drivers
• Control via an embedded system with real-time feedback

Challenges

One of the primary challenges was ensuring consistent cable tension to avoid sagging, which could affect accuracy. This was addressed by using load cells to monitor the tension in each cable and adjust the system in real-time.

Technical Specifications

• Dimensions: 6x9 meters workspace
• Motors: NEMA 17 stepper motors with micro-stepping enabled
• Drivers: TB6600 motor drivers
• Materials: Reflective sphere with tension-controlled cables

Technical Documents

Click below to download or view the technical documents related to this project.

Dyneema SK99 Technical Specifications