Vision for control of a manipulating end effector
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.
Proceedings of SPIE - The International Society for Optical Engineering
Liscano, Ramiro, and William J. Palm. "Vision for control of a manipulating end effector." Proceedings of SPIE - The International Society for Optical Engineering 521, (1985): 392-399. doi:10.1117/12.946209.