A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

Xian Hua Li; Shi Li Tan; Wu Xin Huang

doi:10.4028/www.scientific.net/KEM.439-440.396

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Transfer Characteristic Research of Power Assisted Steering Pump Noise
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A Service Robot with Lightweight Arms and a Trinocular Vision Sensor
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Application of Combined Matlab and VB Model in Water Pollution Control Planning
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HomeKey Engineering MaterialsKey Engineering Materials Vols. 439-440A Service Robot with Lightweight Arms and a...

A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

Abstract:

This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.