Five degrees of freedom of the three-arm robot in the EOD

被引：1
|
作者：
Fu, Wei [1 ]
Ouyang, Zhenguo [1 ]
机构：
[1] Xiamen Univ Technol, Xiamen 361024, Peoples R China
来源：
MECHATRONICS AND INDUSTRIAL INFORMATICS, PTS 1-4 | 2013年 / 321-324卷
关键词：
bomb-disposed robot; kinematics inverse problem; servo control; image identification; CAMERA CALIBRATION;
D O I：
10.4028/www.scientific.net/AMM.321-324.1487
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper sets out to given a geometric method for solving three-arm five degrees of freedom manipulator kinematics inverse problem. With the both eyes stereo-identity system, the bomb-disposed robot accomplished the EOD mission in a completely open environment, using image recognition technology, estimation about producing weight and clamping width in the image of the suspicious explosive object is obtained. The project is proved feasible by experiment.
引用
收藏
页码：1487 / 1494
页数：8
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