PRECISE MANIPULATION WITH ENDPOINT SENSING.

Russell H. Taylor; Ralph L. Hollis; Mark Lavin

PRECISE MANIPULATION WITH ENDPOINT SENSING.

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Unknown Host Publication Title
Editors	Hideo Hanafusa, Hirochika Inoue
Publisher	MIT Press
Pages	59-69
Number of pages	11
ISBN (Print)	0262081512
State	Published - Dec 1 1985
Externally published	Yes

ASJC Scopus subject areas

Engineering(all)

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Cite this

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title = "PRECISE MANIPULATION WITH ENDPOINT SENSING.",

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.",

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N2 - 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.

AB - 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.

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BT - Unknown Host Publication Title

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