Intelligent robotic system for home services - robotic arm system

• Main Author: Tan, Kim Wee.
• Other Authors: Er Meng Joo
• Format: Final Year Project
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/40378
• Institution: Nanyang Technological University

This report presents the development of a Robotic Arm System of a service and assistance robot technology for domestic applications. The collective project focuses on the research of Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition and Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. The report on the development of the robot arm for Robot-Object interactions through robot arm manipulation consists of robot kinematics of linked-arm structure, servo motor control and object detection and recognition. The robot arm is made up of prefab link materials and tested to work and using kinematics calculation with reference to camera to interact with objects. The robot arm is controlled by a multi-core microcontroller called Propeller by Parallax. Much of the project has being focused on object recognition. Object recognition takes on the blob detection and feature based approach either using SIFT or SURF descriptors algorithms using OpenCV libraries.