Development of dual robotic arm system based on binocular vision

摘要

Because our laboratory is developing a meal service robot for a restaurant, it is necessary that robot has a function to hold and carry the meal tray. The main purpose of this research paper is to focus on the practical design and control of the robotic arm, which is mounted on the mobile robotic body. Robotic arm system combined with binocular vision system for gripping tray. Using 8052 MCU of Atmel series controls each axis of the robotic arms. Finally, experimental results show that the developed system of dual robotic arms can pick up coordinates from binocular vision and grip the meal tray stably in this paper. This study completed a signal transmission, the speed and angular control from PC to dual robotic arm system. Therefore, the robotic arms can move to the exact position with the kinematics approach.