An Intelligent Equipment Inspection System based on Robotic Arm

Abstract

Intelligent robots have replaced manual labor to complete a lot of complicated work, especially in equipment inspection has advantages. The purpose of this paper is to design an intelligent robotic inspection system. The system is based on ROS and adopts YOLO algorithm, RRT* algorithm, Agile_grasp function package, and MoveIt! framework to realize the basic target recognition, position recognition, robotic arm navigation planning and other functions. The human-computer interaction interface has been designed, and the simulation test in Gazebo and the real machine test in real environment have also been completed. The system still has a large space for improvement, and further research will be conducted in the future in terms of response speed and accuracy.