Experiments Comparing Precision of Stereo-Vision Approaches for Control of an Industrial Manipulator

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)


Despite years of research in the area of robotics, the vast majority of industrial robots are still used in “teach-repeat” mode. This requires that the workpiece be in exactly the same position and orientation every time. In many high-volume robotics applications, this is not a problem, since the parts are likely to be fixtured anyway. However, in small to medium lot applications, this can be a significant limitation. The motivation for this project was a corporation who wanted to explore the use of visual control of a manipulator to allow for automated teaching of robot tasks for parts that are run in small lot sizes.


Static Agate Mobile Manipulator Industrial Robot Kinematic Error Dynamic Agate 
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© Springer International Publishing Switzerland 2013

Authors and Affiliations

  1. 1.Ohio Northern UniversityAdaUSA
  2. 2.Inria Rhône-AlpesSaint IsmierFrance
  3. 3.Yoder Software Inc.South BendUSA
  4. 4.Jet Propulsion LaboratoryPasadenaUSA

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