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|
|Number of pages||11|
|Publication status||Published - 1985|
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