Difference between revisions of "Tilting Hokuyo"

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(What this does)
(Hardware)
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* Bracket to mount the Hokuyo on to the servo.
 
* Bracket to mount the Hokuyo on to the servo.
 
** This is a custom part that we have designed.
 
** This is a custom part that we have designed.
** The solidworks CAD file will be uploaded soon. This requires Solidworks 2009.
+
** The solidworks CAD file ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]). This requires Solidworks 2009.
 
** We have taken two routes for making the bracket
 
** We have taken two routes for making the bracket
 
**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
 
**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.

Revision as of 07:58, 8 October 2009

Author

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

What this does

Tilting the Hokuyo using a servo and reading back the servo encoder position while getting scans from the Hokuyo allows us to generate a 3D point cloud of the world in front of the robot. We have used this 3D point cloud for object segmentation, door handle detection etc.

Pictures 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:

Code