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Removal of jittering in KUKA KR5 while tele-operation with exoskeleton

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Sudipto MukherjeeAuthors Info & Claims

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

Article No.: 47, Pages 1 - 5

https://doi.org/10.1145/2783449.2783496

Published: 02 July 2015 Publication History

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Abstract

We have developed Arm Exoskeleton and while doing tele-operation with KUKA KR5, we encounter jittering of KUKA robot due to noise introduced by exoskeleton. We acquire data from the sensors which noisy in nature. The application of median filter has been investigated. Median filter performs spatial processing to preserve detail and smooth non-impulsive noise. Jittering of the KUKA robot due to the noise from exoskeleton, supply line and the ground line has been removed.

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Cited By

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Suthar BZubair MKansal SMukherjee S(2023)Design of Adaptive Sensor Coupling-Based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXOIEEE Sensors Journal10.1109/JSEN.2023.327017223:18(20607-20618)Online publication date: 15-Sep-2023
https://doi.org/10.1109/JSEN.2023.3270172

Index Terms

Removal of jittering in KUKA KR5 while tele-operation with exoskeleton
1. Mathematics of computing
  1. Mathematical analysis
    1. Numerical analysis
2. Software and its engineering
  1. Software notations and tools
    1. General programming languages
      1. Language features
      2. Language types
        Functional languages

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Published In

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

July 2015

413 pages

ISBN:9781450333566

DOI:10.1145/2783449

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

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Published: 02 July 2015

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AIR '15

AIR '15: Advances In Robotics

July 2 - 4, 2015

Goa, India

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Suthar BZubair MKansal SMukherjee S(2023)Design of Adaptive Sensor Coupling-Based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXOIEEE Sensors Journal10.1109/JSEN.2023.327017223:18(20607-20618)Online publication date: 15-Sep-2023
https://doi.org/10.1109/JSEN.2023.3270172

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