Arm grasping for mobile robot transportation using Kinect sensor and kinematic analysis

In this paper, we describe how the grasping and placing strategies for 6 DOF arms of a H20 mobile robot can be supported to achieve a high precision performance for a safe transportation. The ability to grasp and manipulate the desired objects is a major problem with mobile robots. This ability requires finding the pose of these objects with respect to the arm followed by using an accurate kinematic model to move it from one pose to another precisely and in a safe path. In our work, single colored objects have been detected and localized using a Kinect sensor with a color segmentation algorithm. The forward kinematic model for our robotic arms has been found and validated and the solvability of inverse kinematic has been discussed. Also, the repeatability of the robotic arm has been tested using a laser sensor to find the accuracy of the arm movements.