Paper
17 January 1985 Vision For Control Of A Manipulating End Effector
Ramiro Liscano, William J. Palm
Author Affiliations +
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.
© (1985) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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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Cited by 1 scholarly publication.
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KEYWORDS
Connectors

Cameras

Robot vision

Light sources and illumination

Machine vision

Visualization

Computer vision technology

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