PRECISE MANIPULATION WITH ENDPOINT SENSING.

Russell H Taylor, Ralph L. Hollis, Mark Lavin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes recent work at IBM Research 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)
Title of host publicationUnknown Host Publication Title
EditorsHideo Hanafusa, Hirochika Inoue
PublisherMIT Press
Pages59-69
Number of pages11
ISBN (Print)0262081512
Publication statusPublished - 1985
Externally publishedYes

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Taylor, R. H., Hollis, R. L., & Lavin, M. (1985). PRECISE MANIPULATION WITH ENDPOINT SENSING. In H. Hanafusa, & H. Inoue (Eds.), Unknown Host Publication Title (pp. 59-69). MIT Press.