precise manipulation with endpoint sensing by Russell H . Taylor Ralph
نویسندگان
چکیده
This paper describes recent work on manipulation strategies that rely on “coarsefine” robot hardware and direct sensing of partworkpiece relationships. The experiments reported use an extremely precise, highbandwidth planar “wrist” and an industrial vision system to perform accurate alignment of small parts. The system architecture, experimental hardware, and programming methods employed are all discussed.
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