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IBM Journal of Research and Development  
Volume 29, Number 4, Page 363 (1985)
Computers in Manufacturing
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Precise manipulation with endpoint sensing

by R. H. Taylor, R. L. Hollis, M. A. Lavin
This paper describes recent work on manipulation strategies that rely on "coarse-fine" robot hardware and direct sensing of part-workpiece relationships. The experiments reported use an extremely precise, high-bandwidth 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.
Related Subjects: Computer-controlled manipulators; Control theory and systems; Mechanics and mechanisms