Five Degrees of Freedom of the Three-Arm Robot in the EOD

Abstract

This paper sets out to given a geometric method for solving three-arm five degrees of freedom manipulator kinematics inverse problem. With the both eyes stereo-identity system, thebomb-disposedrobot accomplished the EOD mission in a completely open environment. using image recognition technology, estimation about producing weight and clamping width in the image of the suspicious explosive object is obtained. The project is proved feasible by experiment.