Development of an interactive service robot arm for object manipulation

摘要

This paper is focused on designing and development of interactive service robot arm for object manipulation in domestic environment. The neck mechanism is developed and it is integrated with the arm and the vision sensor. The robot is capable of identifying user hand gestures, identifying the objects according shape and color and understanding user voice commands. The robot is intended to perform pick and place operation according to the user voice and gesture command. Inverse kinematics analysis has been done using a geometric approach. This paper proposes an iterative methodology for generating inverse kinematic solution for robot arm. The image and voice acquisition is done using the Kinect V2 sensor. This research reveals a novel method of the use of capabilities of Kinect.