Title :
Robotic visual servoing and robotic assembly tasks
Author :
Nelson, Bradley J. ; Papanikolopoulos, Nikolaos P. ; Khosla, Pradeep K.
Author_Institution :
Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
fDate :
6/1/1996 12:00:00 AM
Abstract :
Visual feedback has traditionally been used in the assembly process to a very limited extent. By incorporating high bandwidth visual feedback into the manipulator feedback loop, more flexible and adaptable robotic assembly systems can be developed. The authors present experimentally tested algorithms and propose solutions for the problem of dynamic sensor placement in assembly tasks
Keywords :
CCD image sensors; assembling; feature extraction; feedback; industrial robots; optical tracking; robot vision; servomechanisms; CCD image sensors; dynamic sensor placement; feature tracking; robot vision; robotic assembly; robotic visual servoing; visual feedback; Assembly systems; Cameras; Feedback loop; Robot control; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Sensor systems; Visual servoing;
Journal_Title :
Robotics & Automation Magazine, IEEE
