Stereo Vision-Based Arm Control for Service Robot

摘要：

In this paper, a stereo vision based arm control approach is presented for the service robot which is working in the “human friendly environments. An inverse kinematic solver is proposed to find all joint angles for given position of the effectors on the manipulator. The target object is recognized by color segmentation and the 3D position is computed by the stereo vision system. Finally, the approach is applied to the service robot with Bumblebee2 camera and two arms for object grasping. The experimental results are conducted for illustration of effectiveness of the proposed methods.

关键词： Humanoid manipulator inverse kinematics Binocular vision

作者: Yong Huan Yang Yu Lin. Xu Yan Kai. Chao

作者单位: with Department of Mechatronics Engineering and Automation,Shanghai University,Shanghai with the Department of Mechatronics Engineering and Automation,Shanghai University,Shanghai

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 4056-4061

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）