A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

Abstract:

Article Preview

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.

Info:

Periodical:

Key Engineering Materials (Volumes 439-440)

Edited by:

Yanwen Wu

Pages:

396-400

DOI:

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

Citation:

X. H. Li et al., "A Service Robot with Lightweight Arms and a Trinocular Vision Sensor", Key Engineering Materials, Vols. 439-440, pp. 396-400, 2010

Online since:

June 2010

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.