Abstract
This paper describes recent work on manipulation strategies that rely on 'coarse-fine' robot hardware and direct sensing of part-workpiece relationships. The experiments reported use an extremely precise, high-bandwidth planar 'wrist' and an industrial vision system to perform accurate alignment of small parts. The system architecture, experimental hardware, and programming methods employed are all discussed.
Original language | English (US) |
---|---|
Pages (from-to) | 363-376 |
Number of pages | 14 |
Journal | IBM Journal of Research and Development |
Volume | 29 |
Issue number | 4 |
DOIs | |
State | Published - 1985 |
Externally published | Yes |
ASJC Scopus subject areas
- Computer Science(all)