IBM Journal of Research and Development
IBM Skip to main content
  Home     Products & services     Support & downloads     My account  

  Select a country  
Journals Home  
  Systems Journal  
Journal of Research
and Development
    Current Issue  
    Recent Issues  
    Papers in Progress  
    Search/Index  
    Orders  
    Description  
    Patents  
    Recent publications  
    Author's Guide  
  Staff  
  Contact Us  
  Related links:  
     IBM Research  

IBM Journal of Research and Development  
Volume 29, Number 4, Page 363 (1985)
Computers in Manufacturing
  Full article: arrowPDF   arrowCopyright info





   

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