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회원님은 논문 이용 권한이 없습니다.
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[ Special Issue : Seoul Tech Capstone Design ] | |
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp. 271-277 | |
Abbreviation: J. Korean Soc. Manuf. Technol. Eng. | |
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 | |
Development of a Dual-arm Service Robot Using Stereo Vision and 6-Axis Manipulators | |
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). | |
Funding Information ▼ |
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 |
이 연구는 서울과학기술대학교 교내 학술연구비 지원으로 수행되었습니다.
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