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http://dx.doi.org/10.3745/KTSDE.2022.11.5.221

Design of Robot Arm for Service Using Deep Learning and Sensors  

Pak, Myeong Suk (한경대학교 전기전자제어공학과)
Kim, Kyu Tae (한경대학교 전기전자제어공학과)
Koo, Mo Se (한경대학교 전기전자제어공학과)
Ko, Young Jun (한경대학교 전기전자제어공학과)
Kim, Sang Hoon (한경대학교 ICT로봇기계공학부)
Publication Information
KIPS Transactions on Software and Data Engineering / v.11, no.5, 2022 , pp. 221-228 More about this Journal
Abstract
With the application of artificial intelligence technology, robots can provide efficient services in real life. Unlike industrial manipulators that do simple repetitive work, this study presented design methods of 6 degree of freedom robot arm and intelligent object search and movement methods for use alone or in collaboration with no place restrictions in the service robot field and verified performance. Using a depth camera and deep learning in the ROS environment of the embedded board included in the robot arm, the robot arm detects objects and moves to the object area through inverse kinematics analysis. In addition, when contacting an object, it was possible to accurately hold and move the object through the analysis of the force sensor value. To verify the performance of the manufactured robot arm, experiments were conducted on accurate positioning of objects through deep learning and image processing, motor control, and object separation, and finally robot arm was tested to separate various cups commonly used in cafes to check whether they actually operate.
Keywords
Robot Arm; Deep Learning; Inverse Kinematics; Force Sensor;
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Times Cited By KSCI : 1  (Citation Analysis)
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