Five Degrees of Freedom of the Three-Arm Robot in the EOD

Wei Fu; Zhen Guo Ouyang

doi:10.4028/www.scientific.net/AMM.321-324.1487

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 321-324Five Degrees of Freedom of the Three-Arm Robot in...

Five Degrees of Freedom of the Three-Arm Robot in the EOD

Abstract:

This paper sets out to given a geometric method for solving three-arm five degrees of freedom manipulator kinematics inverse problem. With the both eyes stereo-identity system, the bomb-disposed robot accomplished the EOD mission in a completely open environment. using image recognition technology, estimation about producing weight and clamping width in the image of the suspicious explosive object is obtained. The project is proved feasible by experiment.

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Periodical:

Applied Mechanics and Materials (Volumes 321-324)

Pages:

1487-1494

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.321-324.1487

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Online since:

June 2013

Authors:

Wei Fu, Zhen Guo Ouyang

Keywords:

Bomb-Disposed Robot, Image Identification, Kinematics Inverse Problem, Servo Control

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