Abstract
This study is mainly in the design and development of a 6-DOF robotic arm for the task such as pressing a button on an elevator panel. There is a binocular camera fixed near the base of our robotic arm. Thus, the robot can obtain the image information from the camera, such that it can recognize a target in the scene, and can calculate its pose in 3-D space. In the section of image recognition, we adopt an algorithm called “Speed Up Robust Feature” to obtain the features. In order to optimize the matching results, we use “RANdom SAmple Consensus” to remove the outliers caused by the wrong matching results and get a more correct homography matrix to obtain the position of the target in the current image. In the section of stereo vision, corresponding points can be identified and found in the left and right images by image recognition. The depth information of the target can also be reconstructed by the triangular geometry. In the section of robot arm, there are some components made with 3-D printer. The servo control of joints also adopt a self-designed controller, and we use closed-loop Jacobian transpose scheme as the inverse kinematics algorithm. A force-sensitive resistor is also placed at the end of the fingertip to measure the force caused by pressing a button. Eventually, the robot can use techniques above to complete the task of button pressing.