EYE‐TO‐HAND CO‐ORDINATION

Abstract

Tasks in automated manufacturing and assembly increasingly involve robot operations guided by vision systems. The traditional “look‐and‐move” approach to linking machine vision systems and robot manipulators which is generally used in these operations relies heavily on accurate camera to real‐world calibration processes and on highly accurate robot arms with well‐known kinematics. As a consequence, the cost of robot automation has not been justifiable in many applications. This article describes a novel real‐time vision control strategy giving “eye‐to‐hand co‐ordination” which offers good performance even in the presence of significant vision system miscalibrations and kinematic model parametric errors. This strategy offers the potential for low cost vision‐guided robots.

Citation

Wolfe, D.F.H., Wijesoma, S.W. and Richards, R.J. (1991), "EYE‐TO‐HAND CO‐ORDINATION", Assembly Automation, Vol. 11 No. 1, pp. 15-20. https://doi.org/10.1108/eb004327