Stereo Vision-Based Arm Control for Service Robot

被引：0

作者：

Yang, Yong Huan ^{[1
]}

Xu, Yu Lin ^{[1
]}

Li, Xin ^{[1
]}

Chen, Wan Mi ^{[1
]}

Chao, Yan Kai ^{[1
]}

机构：

[1] Shanghai Univ, Dept Mechatron Engn & Automat, Shanghai, Peoples R China

来源：

2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6 | 2011年

关键词：

Humanoid manipulator; inverse kinematics; Binocular vision;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：4048 / 4053

页数：6

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