PRECISE MANIPULATION WITH ENDPOINT SENSING.

Russell H. Taylor; Ralph L. Hollis; Mark A. Lavin

doi:10.1147/rd.294.0363

PRECISE MANIPULATION WITH ENDPOINT SENSING.

Russell H. Taylor, Ralph L. Hollis, Mark A. Lavin

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

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	https://doi.org/10.1147/rd.294.0363
State	Published - 1985
Externally published	Yes

ASJC Scopus subject areas

Computer Science(all)

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Cite this

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title = "PRECISE MANIPULATION WITH ENDPOINT SENSING.",

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.",

author = "Taylor, {Russell H.} and Hollis, {Ralph L.} and Lavin, {Mark A.}",

year = "1985",

doi = "10.1147/rd.294.0363",

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pages = "363--376",

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publisher = "IBM Corporation",

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AU - Hollis, Ralph L.

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AB - 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.

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M3 - Article

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JO - IBM Journal of Research and Development

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PRECISE MANIPULATION WITH ENDPOINT SENSING.

Abstract

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