Integrating Real-Time Vision And Manipulation

We describ e a system that integrates real time com puter vision with a sensorless gripper to provide closed loop feedback control for grasping and manipulation tasks Many hand eye coordination skills can be thought of as sensory control loops where specialized reasoning has been embodied as a feedback or control path in the loop s construction Our framework cap tures the essence of these hand eye coordination skills in simple visual control primitives which are a key component of the software integration The primitives use a simple visual tracking and correspondence scheme to provide real time feedback control in the presence of imprecise camera calibrations Experimental results are shown for the positioning task of locating picking up and inserting a bolt into a nut under visual con trol Results are also presented for the visual control of a bolt tightening task