research-article

Closed Loop Autonomous Calibration of Tele-operation Exoskeleton

Authors:

Sudipto Mukherjee,

Mohd. Zubair,

Bhivraj Suthar,

Sachin KansalAuthors Info & Claims

AIR '13: Proceedings of Conference on Advances In Robotics

Pages 1 - 3

https://doi.org/10.1145/2506095.2506109

Published: 04 July 2013 Publication History

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Abstract

Open chain serial manipulators can be made closed chain via specific ground interaction tasks. One of such task is used to here to calibrate a wearable exoskeleton (made for a Tele-operation project). Parametric identification is used to estimate DH parameters which change as the exoskeleton is reconfigured to a new user. VBA API of Autodesk Inventor and MATLAB are used to realize the process.

References

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Bennett, D. J., Hollerbach, J. M. 1991. Autonomous Calibration of Single-Loop Closed Kinematic Chains Formed by Manipulators with Passive End Point Constraints. IEEE Transactions on Robotics and Automation. 7, 5, (October 1991), 597--606.

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Denavit, J., Hartenberg, R. S. 1955. A kinematic notation for lower pair mechanisms based on matrices. Journal of Applied Mechanics, 22, 215--221.

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Khalil, W., Garcia, G., Delagarde, J. F. 1995. Calibration of the Geometric Parameters of Robots without External Sensors. IEEE International Conference on Robotics and Automation. 3 (May 1995), 3039--3044.

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Cited By

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Zubair M(2023)Introduction to Mechanical Design of AI‐Based Robotic SystemMachine Learning Applications10.1002/9781394173358.ch13(207-218)Online publication date: 15-Dec-2023
https://doi.org/10.1002/9781394173358.ch13
Kansal SZubair MSuthar BMukherjee S(2021)Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environmentsRobotica10.1017/S0263574721000485(1-16)Online publication date: 14-May-2021
https://doi.org/10.1017/S0263574721000485
Zubair MKansal SSuthar BMukherjee S(2016)Kinematic mapping of Exoskeleton with virtual KUKA robot2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)10.1109/RAHA.2016.7931869(1-5)Online publication date: Dec-2016
https://doi.org/10.1109/RAHA.2016.7931869
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Index Terms

Closed Loop Autonomous Calibration of Tele-operation Exoskeleton
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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Information

Published In

AIR '13: Proceedings of Conference on Advances In Robotics

July 2013

366 pages

ISBN:9781450323475

DOI:10.1145/2506095

Co-chairs:
Alok Mukherjee
R&DE (Engrs.), Pune
,
Anuj Kapuria
Hi-Tech Robotic Systemz Ltd, Gurgaon
,
Program Chairs:
Tom Shibata
NIST, Japan
,
Santanu Chaudhury
IIT Delhi, India
,
Publications Chair:
Subir Kumar Saha
IIT Delhi, India

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 04 July 2013

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AIR '13

AIR '13: Advances In Robotics 2013

July 4 - 6, 2013

Pune, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

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Zubair M(2023)Introduction to Mechanical Design of AI‐Based Robotic SystemMachine Learning Applications10.1002/9781394173358.ch13(207-218)Online publication date: 15-Dec-2023
https://doi.org/10.1002/9781394173358.ch13
Kansal SZubair MSuthar BMukherjee S(2021)Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environmentsRobotica10.1017/S0263574721000485(1-16)Online publication date: 14-May-2021
https://doi.org/10.1017/S0263574721000485
Zubair MKansal SSuthar BMukherjee S(2016)Kinematic mapping of Exoskeleton with virtual KUKA robot2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)10.1109/RAHA.2016.7931869(1-5)Online publication date: Dec-2016
https://doi.org/10.1109/RAHA.2016.7931869
Suthar BKansal SZubair MJaitly SMukherjee S(2015)Removal of jittering in KUKA KR5 while tele-operation with exoskeletonProceedings of the 2015 Conference on Advances In Robotics10.1145/2783449.2783496(1-5)Online publication date: 2-Jul-2015
https://dl.acm.org/doi/10.1145/2783449.2783496

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Cited By

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Recommendations

Exoskeleton for Tele-Operation of Industrial Robot

The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Calibration for mobile robots with an invariant Jacobian

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