Stereo vision-based arm control for service robot

In this paper, a stereo vision based arm control approach is presented for the service robot which is working in the “human friendly” environments. An inverse kinematic solver is proposed to find all joint angles for given position of the effectors on the manipulator. The target object is recognized by color segmentation and the 3D position is computed by the stereo vision system. Finally, the approach is applied to the service robot with Bumblebee2 camera and two arms for object grasping. The experimental results are conducted for illustration of effectiveness of the proposed methods.