Vision For Control Of A Manipulating End Effector

Ramiro Liscano; William J. Palm

doi:10.1117/12.946209

17 January 1985 Vision For Control Of A Manipulating End Effector

Ramiro Liscano, William J. Palm

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946209
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a specially-designed end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used.

Citation Download Citation

Ramiro Liscano and William J. Palm "Vision For Control Of A Manipulating End Effector", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946209

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