PRECISE MANIPULATION WITH ENDPOINT SENSING.

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

Research output: Contribution to journalArticle

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 languageEnglish (US)
Pages (from-to)363-376
Number of pages14
JournalIBM Journal of Research and Development
Volume29
Issue number4
StatePublished - Jul 1985
Externally publishedYes

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Hardware
Robots
Bandwidth
Experiments

ASJC Scopus subject areas

  • Hardware and Architecture

Cite this

PRECISE MANIPULATION WITH ENDPOINT SENSING. / Taylor, Russell H; Hollis, Ralph L.; Lavin, Mark A.

In: IBM Journal of Research and Development, Vol. 29, No. 4, 07.1985, p. 363-376.

Research output: Contribution to journalArticle

Taylor, RH, Hollis, RL & Lavin, MA 1985, 'PRECISE MANIPULATION WITH ENDPOINT SENSING.', IBM Journal of Research and Development, vol. 29, no. 4, pp. 363-376.
Taylor, Russell H ; Hollis, Ralph L. ; Lavin, Mark A. / PRECISE MANIPULATION WITH ENDPOINT SENSING. In: IBM Journal of Research and Development. 1985 ; Vol. 29, No. 4. pp. 363-376.
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