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Hand/Eye Coordination For Fine Robotic MotionFine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.
Document ID
19920000645
Document Type
Other - NASA Tech Brief
Authors
Lokshin, Anatole M. (Caltech)
Date Acquired
August 15, 2013
Publication Date
October 1, 1992
Publication Information
Publication: NASA Tech Briefs
Volume: 16
Issue: 10
ISSN: 0145-319X
Subject Category
MATHEMATICS AND INFORMATION SCIENCES
Report/Patent Number
NPO-18316
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.