Abstract
In this paper a control system is described for visual servoing of a robot while performing a horizontal assembly task. The control system is based on a look-and-move strategy, in which the visual processing is performed while the scene is stationary. Two visual servoing areas are developed in order to complete the assembly task. In one servoing area the robot will locate, identify and grasp randomly oriented parts from a conveyor, using feedback from a CID camera. Feedback from a second camera is used to detect and compensate for grasping or positioning errors in completing the assembly.
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References
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© 1989 Springer-Verlag Berlin Heidelberg
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Banta, L.E., Bubnick, T. (1989). Visual Servoing of a Robot Assembly Task. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_27
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DOI: https://doi.org/10.1007/978-3-642-83957-3_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83959-7
Online ISBN: 978-3-642-83957-3
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