[ Special Issue : Seoul Tech Capstone Design ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.271-277

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 01 Apr 2018 Revised 24 May 2018 Accepted 31 May 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.271

스테레오비전과 6축 매니퓰레이터를 이용한 양팔 서비스 로봇 개발

이강민^a ; 나산마로^a ; 박재훈^a ; 안기원^a ; 이치범^a^{, *}

Development of a Dual-arm Service Robot Using Stereo Vision and 6-Axis Manipulators

Kang-Min Lee^a ; San-Ma-Ro Na^a ; Jae-Hoon Park^a ; Ki-Won Ann^a ; Chibum Lee^a^{, *}

aMechanical System and Design Engineering, Seoul National University of Science and Technology, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: ^*Tel.: +82-2-970-9667, Fax: +82-2-974-8270, E-mail address: chibum@seoultech.ac.kr (Chibum Lee).

Abstract

Entering the 4th industrial revolution, demand for unmanned automation and robots is increasing every year. In many areas, the use of collaborative robots which can work with humans is tested to reduce labor costs. As a senior design class project, we have developed a low-cost service robot consisting of a stereo vision system and two 6-axis manipulators and grippers. The service task is set to serve beverages to humans, which can be used in unmanned coffee shops. The stereo vision system is used to identify coordinates x, y, z of objects. The detection algorithm was developed to detect the objects. The design and manufacturing of both arms and grippers as well as the control algorithm for motion and grasping objects is described. The precision performance of the stereo vision processing and of the robot arms was validated with experiments.

Keywords:

Dual robot arm, Service robot, Stereo Vision, 6 axis manipulator, Inverse Kinematics

Acknowledgments

이 연구는 서울과학기술대학교 교내 학술연구비 지원으로 수행되었습니다.

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