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
Publication statusPublished - Jul 1985
Externally publishedYes

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ASJC Scopus subject areas

  • Hardware and Architecture

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