Backup tracking for an interaction system

A method for controlling a robot arm within an environment, the method comprising:

• obtaining, via a first tracking system, a position of a robot base, wherein the robot base is mounted to a boom and includes a robot arm having an end effector, and wherein the first tracking system is configured to measure the position of the robot base relative to the environment and includes a tracking head and a target mounted to the robot base;
• causing the robot arm to move the end effector along an end effector path based, at least in part, on the position of the robot base obtained via the first tracking system, and
• following a failure of the first tracking system:
• obtaining the position of the robot base via a second tracking system, wherein the second tracking system is located at the robot base and configured to measure movement of the robot base relative to the environment,
• causing the robot arm to move the end effector along the end effector path based, at least in part, on the position of the robot base obtained via the second tracking system, and
• causing, based at least in part on one or more signals from the second tracking system, the tracking head and/or the target to move to restore operation of the tracking head and the target in the first tracking system.

One or more non-transitory, computer readable media carrying instructions that, when executed by a processor of system for controlling a robot arm within an environment, causes the processor to perform operations comprising:

• obtaining, via a first tracking system, a position of a robot base, wherein the robot base is mounted to a boom and includes a robot arm having an end effector, and wherein the first tracking system is configured to measure the position of the robot base relative to the environment and includes a tracking head and a target mounted to the robot base;
• causing the robot arm to move the end effector along an end effector path based, at least in part, on the position of the robot base obtained via the first tracking system, and
• following a failure of the first tracking system:
• obtaining the position of the robot base via a second tracking system, wherein the second tracking system is located at the robot base and configured to measure movement of the robot base relative to the environment,
• causing the robot arm to move the end effector along the end effector path based, at least in part, on the position of the robot base obtained via the second tracking system, and
• causing, based at least in part on one or more signals from the second tracking system, the tracking head and/or the target to move to restore operation of the tracking head and the target in the first tracking system.