A robot arm for pushing elevator buttons

Abstract

In this paper, a robot arm is designed and set on the top of the wheeled robot, which can recognize the numbers or signs and push the buttons. There is a micro-camera set on the tip of the robot arm for the image processing and pattern recognition. Then, the inverse kinematics is used to calculate the angle of each link of the robot arm to press the desired button correctly. Integrating the techniques of image processing, pattern recognition, and motion control, the robot is implemented to achieve the elevator-button pushing task.