Cooperative Dual Arm with Vision Guidance

Abstract—In this paper, the cooperative task of a dual arm robot with vision guidance is presented. The robot has two 6-DOF arms and implements the robot operating system (ROS) which provides software libraries to control the robot. The arm navigation package in the ROS is used to solve the inverse kinematics and trajectory generation. The robot’s trajectories are guided by vision system which utilizes the Microsoft Kinect’s camera for color tracking of target objects. Experiment results show that the dual arm robot can perform cooperative tracking task of various patterns such as straight line, circle, and rectangular shapes effectively.