Autonomous security robot services using eye-in-hand visual servo system
Journal
Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Date Issued
2008
Author(s)
Abstract
This paper describes an autonomous eye-in-hand coordination application of security robot for services in a variety of applications. We have designed an autonomous mobile security robot called "Security Warrior", which equipped with arms and embedded motion controller combines the non-specific environment of vision system with the robust inverse kinematics computation. In order to reduce the cost and volume, we design an embedded control system for 14 servo motor of robot arms. Besides, we combine inverse kinematics to eye-in-hand servo control robot arm to get closer target and use CCD on robot wrist to feedback target position. In order to reach and grasp the target object, we have used vision system by using particle analysis to find out centroid of region, the edge of the region and the percentage of area of a picture. This system has been integrated and experimentally demonstrated the success of target object acquisition. © 2008 IEEE.
Subjects
Eye-in-hand; Robot arm; Security robot; Visual servo system
Other Subjects
Applications.; Autonomous securities; Embedded control systems; Eye-in-hand; Kinematics computations; Mobile securities; Motion controllers; Particle analyses; Reach and grasps; Robot arm; Robot arms; Robot wrists; Security robot; Security robots; Servo controls; Target objects; Target positions; Vision systems; Visual servo system; Visual servo systems; Charge coupled devices; Combines; Control systems; Intelligent robots; Inverse kinematics; Kinematics; Machine design; Mechanics; Robotic arms; Robots; Servomotors; Targets; Visual communication; Robotics
Type
conference paper