Kinematic Trajectory and Force Capture System - Revision history

Advaitjain: /* Author */

2010-07-29T04:04:27Z

‎Author

2010-07-13T21:38:56Z

‎What this does

2010-07-13T21:38:40Z

‎Project Webpage

2010-07-13T21:37:45Z

‎Project Webpage

2010-07-13T21:37:33Z

‎What this does

2010-07-13T21:30:15Z

‎Code

2010-07-13T21:29:37Z

‎Code

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‎Code

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‎Code

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‎Hardware

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 == Author ==
-Advait Jain (http://www.cc.gatech.edu/~advait)
+Advait Jain (http://www.cc.gatech.edu/~advait), Advisor: Prof. Charlie Kemp
 == What this does ==

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 == 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 ==

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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 [[www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here]].
+The project webpage for this publication is [http://www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here].
 == Picture of the Setup ==

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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 [www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here].
+The project webpage for this publication is [[www.hsi.gatech.edu/hrl/mechanics-biorob10.shtml here]].
 == Picture of the Setup ==

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 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)
 == Picture of the Setup ==

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 * 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)
-*# [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.
+*# [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.

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 * 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)
-*# [http://www.ros.org/wiki/robotis robotis]
+*# [http://www.ros.org/wiki/2010_biorob_everyday_mechanics 2010_biorob_everyday_mechanics]
-*# [http://www.ros.org/wiki/hrl_hokuyo hrl_hokuyo]
-*# [http://www.ros.org/wiki/hrl_tilting_hokuyo hrl_tilting_hokuyo]

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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.
 * 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.