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Proceedings Paper

Vision For Control Of A Manipulating End Effector
Author(s): Ramiro Liscano; William J. Palm
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Paper 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.

Paper Details

Date Published: 17 January 1985
PDF: 8 pages
Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); doi: 10.1117/12.946209
Show Author Affiliations
Ramiro Liscano, University of Rhode Island (United States)
William J. Palm, University of Rhode Island (United States)

Published in SPIE Proceedings Vol. 0521:
Intelligent Robots and Computer Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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