Integrated design of an end effector for a visual servoing algorithm
Date of Original Version
An algorithm is presented for using a robot system with a single camera to position in threedimensional space a slender object for insertion into a hole; for example, an electrical pin‐type termination into a connector hole. The algorithm relies on a control‐configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accommodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction. Copyright © 1986 Wiley Periodicals, Inc., A Wiley Company
Journal of Robotic Systems
Palm, William J., and Ramiro Liscano. "Integrated design of an end effector for a visual servoing algorithm." Journal of Robotic Systems 3, 3 (1986): 221-236. doi:10.1002/rob.4620030303.