Vision for control of a manipulating end effector

Document Type

Conference Proceeding

Date of Original Version



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 specially-designed 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. © 1985 SPIE.

Publication Title, e.g., Journal

Proceedings of SPIE - The International Society for Optical Engineering