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

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.