A Household Service Robot with Two Arms and Multi-Sensor in Unstructured Environments

In this paper, a household service robot with two six degree-of-freedom arms and multi-sensor is described. The coordinate system of the two arms is established according to the DH convention, and position and orientation of the hand is computed. With geometric and algebraic solution methods, we solved the inverse kinematics of the arm. Hardware of the robot is integrated with multi-sensor, and software employs decentralized and hierarchical control architecture. Specified a common task in people´s daily life, our robot can accomplish it in the unstructured environments with 90 percent of success. In addition, both the correction of the algorithms of the arm and the dependability and stability of the robot control system are proved.