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Tasks in automated manufacturing and assembly increasingly involve robot operations guided by vision systems. The traditional lookandmove approach to linking machine vision systems and robot manipulators which is generally used in these operations relies heavily on accurate camera to realworld calibration processes and on highly accurate robot arms with wellknown kinematics. As a consequence, the cost of robot automation has not been justifiable in many applications. This article describes a novel realtime vision control strategy giving eyetohand coordination 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 visionguided robots.
Assembly Automation – Emerald Publishing
Published: Jan 1, 1991
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