Title
CONTROL-CONFIGURED END EFFECTOR FOR A VISUAL SERVOING ALGORITHM.
Document Type
Conference Proceeding
Date of Original Version
12-1-1985
Abstract
An algorithm is presented for using a robot system with a single camera to position in three-dimensional 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 translation 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.
Publication Title, e.g., Journal
Proceedings of the American Control Conference
Citation/Publisher Attribution
Palm, William J., and Ramiro Liscano. "CONTROL-CONFIGURED END EFFECTOR FOR A VISUAL SERVOING ALGORITHM.." Proceedings of the American Control Conference (1985): 55-60. https://digitalcommons.uri.edu/mcise_facpubs/630