Robot Arm Control System via Ethernet with Kinect V2 Camera for use in Hazardous Areas

摘要

This paper introduces the Ethernet robot arm control system with Kinect V2 camera for use in hazardous areas. The goal is to evaluate the performance of Ethernet communication and robot arm control in picking and placing objects. This system is divided into two architectures. Hardware includes an AMBER B1 robot arm and gripper, a Kinect V2 camera, AMBER robot arm control system, a router, and a PC/laptop. Software includes the C# software client, ROS2, Kinect for Windows SDK 2.0, and ARS. The experiment is separated into two parts: an Ethernet UDP performance evaluation and an object pick and place test. Maximum Ethernet UDP bandwidth is 4.20 Mbits/sec and there is no packet loss. There is a 15% error for picking objects. The movement of the robot arm follows the user’s movement and object placement with 100% success. The robot arm control system from this research can help access dangerous areas after accidents.