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)|
|Number of pages||14|
|Journal||IBM Journal of Research and Development|
|Publication status||Published - Jul 1985|
ASJC Scopus subject areas
- Hardware and Architecture