Difference between revisions of "Kinematic Trajectory and Force Capture System"

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== Author ==
 
== Author ==
Advait Jain (http://www.cc.gatech.edu/~advait)
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Advait Jain (http://www.cc.gatech.edu/~advait), Advisor: Prof. Charlie Kemp
  
 
== What this does ==
 
== What this does ==
 
This page describes the capture system that we designed to log the kinematic trajectory through which mechanisms (doors and drawers) move and the forces used to operate them.
 
This page describes the capture system that we designed to log the kinematic trajectory through which mechanisms (doors and drawers) move and the forces used to operate them.
  
We first used this setup in this paper: ''The Complex Structure of Simple Devices: A Survey of Trajectories and Forces that Open Doors and Drawers.'' Advait Jain, Hai Nguyen, Mrinal Rath, Jason Okerman, and Charles C. Kemp. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2010. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)
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== Project Webpage ==
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We first used this setup in this publication: ''The Complex Structure of Simple Devices: A Survey of Trajectories and Forces that Open Doors and Drawers.'' Advait Jain, Hai Nguyen, Mrinal Rath, Jason Okerman, and Charles C. Kemp. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2010.
  
 +
The project webpage for this publication is [http://www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here].
  
<gallery caption="Sample Point Clouds" widths="150px" perrow="3">
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== Picture of the Setup ==
File:thok_pointcloud1.png|
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[[File:capture_setup.jpg]] [[File:handheld_hook.jpg]]
File:thok_pointcloud2.png|
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</gallery>
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== Pictures of the Setup ==
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== Hardware ==
<gallery caption="Servo Tilting the UTM" widths="150px" perrow="5">
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This is the hardware setup that we use:
File:thok0_home.jpg|Firefly Camera, UTM and Servo (left to right)
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* Camera: Point Grey DragonFly2 with remote head
File:thok0_tilt1.jpg|
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* Lens: Varifocal Video Lens 4mm - 12mm (Stock Number: NT58-365) ($150.00) [http://www.edmundoptics.com/onlinecatalog/displayproduct.cfm?productID=1620&PageNum=1&StartRow=1 link]
File:thok0_tilt2.jpg|
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* Tripod for the camera.
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* Studio Lights
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* Laptop: Anything that runs Ubuntu and has a firewire port. Four pin firewire port will require a hub and external power to provide power to the DragonFly.
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* Mount for the DragonFly: See Image and the CAD Models.
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<gallery caption="Handheld Hook" widths="150px" perrow="6">
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File:dragonfly_mount_1.JPG| [[Media:dragonfly_mount_1.sldprt|dragonfly_mount_1.sldprt]]
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File:dragonfly_mount_2.JPG| [[Media:dragonfly_mount_2.sldprt|dragonfly_mount_2.sldprt]]
 
</gallery>
 
</gallery>
 
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* Handheld Hook: See images and the CAD Models. I cut all the parts (except the hook) from 4.5mm thick acrylic sheets on a laser cutter. I 3D printed hook_handheld.sldprt.
<gallery caption="Alternate Configuration" widths="150px" perrow="5">
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** The rubber ball for the operator to grab onto (mounts to hook_checkerboard_1.sldprt) was something that I scavenged from the lab. I don't have an easy way to show its design.
File:thok1_tilt1.jpg|
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** The difference between hook_adaptor_nano.sldprt and hook_extender_nano.sldprt is the radius of the holes. The adaptor allows you to tap the holes for an M3 screw and the extender holes let M3 screws pass through.
File:thok1_tilt2.jpg|
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<gallery caption="Handheld Hook" widths="150px" perrow="6">
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File:hook_handheld.JPG| [[Media:hook_handheld.sldprt|hook_handheld.sldprt]]
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File:hook_checkerboard_1.JPG| [[Media:hook_checkerboard_1.sldprt|hook_checkerboard_1.sldprt]]
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File:hook_checkerboard_2.JPG| [[Media:hook_checkerboard_2.sldprt|hook_checkerboard_2.sldprt]]
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File:hook_checkerboard_3.JPG| [[Media:hook_checkerboard_3.sldprt|hook_checkerboard_3.sldprt]]
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File:hook_adaptor_nano.JPG| [[Media:hook_adaptor_nano.sldprt|hook_adaptor_nano.sldprt]]
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File:hook_extender_nano.JPG| [[Media:hook_extender_nano.sldprt|hook_extender_nano.sldprt]]
 
</gallery>
 
</gallery>
  
== Hardware ==
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* Checkerboard patterns: Checked into the subversion repository with all the code.
[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]
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* Force Torque Sensor: ATI Nano 25 with a calibration of SI-125-3 and the Controller F/T System ([http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 link])
This is the hardware setup that we use:
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* Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66
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* This gives a serial interface to control the servo: http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65
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* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)
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* Bracket to mount the Hokuyo on to the servo.
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** This is a custom part that we have designed.
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** The solidworks CAD file ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]). This requires Solidworks 2009.
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** We have taken two routes for making the bracket
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**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
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**# use http://www.mfg.com to get the part manufactured from the CAD file. Will take between a week to 10 days.
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** We thank Abhishek Bhatkhande for making the CAD model from the bracket design.
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* Screws:
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** Four M2x4 (2mm diameter, 4mm length) to connect the servo to the bracket.
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** Two M3x6 or M3x8 to connect the UTM to the bracket.
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** Longer screws will require washers.
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==== Power ====
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[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]
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The image on the right shows how we power the Robotis servos and connect to the USB2Dynamixel converter.
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* The block labeled 12V is a power supply that takes unregulated 24V as input (red and white cables ending in a connector) and gives 12V regulated as output. Regulated power is not required for the servos but we also use the same power supply for Hokuyos and so find it convenient. RX28 servos can take between 12V and 16V (I think. Please read the manual to confirm).
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* The output of this power block in the image is are the green (GND) and red (12V) wires.
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* GND goes to both the USB2Dynamixel and the Robotis servo.
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* 12V goes to the servo only. Notice that a cable on the USB2Dynamixel is clipped. This is intentional and is the one that is labeled N/C on the USB2Dynamixel. Connecting 12V to that causes the USB2Dynamixel to burn.
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* The rest of the wiring from the USB2Dynamixel is simply straight connections for the RS485 communication.
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==== Troubleshooting ====
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* The RX28's communicate using RS485 protocol. Ensure that the USB2Dynamixel toggle switch is set to RS485.
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== Code ==
 
== Code ==
 
* ROS (http://www.ros.org)
 
* ROS (http://www.ros.org)
 
*You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
 
*You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
*# [http://www.ros.org/wiki/robotis robotis]
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*# [http://code.google.com/p/gt-ros-pkg/source/browse/#svn/trunk/hrl/code_publications/2010_biorob_everyday_mechanics 2010_biorob_everyday_mechanics] - This package will also have dependencies and will probably stop working as ROS and other libraries like OpenCV are updated. Some part of the code should remain useful.
*# [http://www.ros.org/wiki/hrl_hokuyo hrl_hokuyo]
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*# [http://www.ros.org/wiki/hrl_tilting_hokuyo hrl_tilting_hokuyo]
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Latest revision as of 04:04, 29 July 2010

Author

Advait Jain (http://www.cc.gatech.edu/~advait), Advisor: Prof. Charlie Kemp

What this does

This page describes the capture system that we designed to log the kinematic trajectory through which mechanisms (doors and drawers) move and the forces used to operate them.

Project Webpage

We first used this setup in this publication: The Complex Structure of Simple Devices: A Survey of Trajectories and Forces that Open Doors and Drawers. Advait Jain, Hai Nguyen, Mrinal Rath, Jason Okerman, and Charles C. Kemp. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2010.

The project webpage for this publication is here.

Picture of the Setup

Capture setup.jpg Handheld hook.jpg

Hardware

This is the hardware setup that we use:

  • Camera: Point Grey DragonFly2 with remote head
  • Lens: Varifocal Video Lens 4mm - 12mm (Stock Number: NT58-365) ($150.00) link
  • Tripod for the camera.
  • Studio Lights
  • Laptop: Anything that runs Ubuntu and has a firewire port. Four pin firewire port will require a hub and external power to provide power to the DragonFly.
  • Mount for the DragonFly: See Image and the CAD Models.
  • Handheld Hook: See images and the CAD Models. I cut all the parts (except the hook) from 4.5mm thick acrylic sheets on a laser cutter. I 3D printed hook_handheld.sldprt.
    • The rubber ball for the operator to grab onto (mounts to hook_checkerboard_1.sldprt) was something that I scavenged from the lab. I don't have an easy way to show its design.
    • The difference between hook_adaptor_nano.sldprt and hook_extender_nano.sldprt is the radius of the holes. The adaptor allows you to tap the holes for an M3 screw and the extender holes let M3 screws pass through.
  • Checkerboard patterns: Checked into the subversion repository with all the code.
  • Force Torque Sensor: ATI Nano 25 with a calibration of SI-125-3 and the Controller F/T System (link)

Code