Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.


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    Title :

    Hand/Eye Coordination For Fine Robotic Motion


    Contributors:

    Published in:

    Publication date :

    1992-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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