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.
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The project webpage for this publication is [http://www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here].
  
 
== Picture of the Setup ==
 
== Picture of the Setup ==
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* 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://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 is updated. Some part of the code should remain useful.
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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.

Latest revision as of 00:04, 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