Kinematic Trajectory and Force Capture System

Author

Advait Jain (http://www.cc.gatech.edu/~advait)

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.

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

Hardware

Image of the solidworks part for the bracket to mount the UTM on to the servo.

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.

• Handheld Hook
• 

  hook_handheld.sldprt

• 

  hook_checkerboard_1.sldprt

• 

  hook_checkerboard_2.sldprt

• 

  hook_checkerboard_3.sldprt

• 

  hook_adaptor_nano.sldprt

• 

  hook_extender_nano.sldprt

• 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

• 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)
  1. robotis
  2. hrl_hokuyo
  3. hrl_tilting_hokuyo