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An algorithm is presented for using a robot system with a single camera to position in threedimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accommodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction. SH7) 81 tH L M rir -A % 7 Q M b\ T 15 8 3 . , 7 k 3 IJ X b P B 1 2 tZ & d( 9 f & i A P a) 8 B B P & i ld . % %9J R $3 Q W l 1 $ Q z t c; ck 3 T 217 8 n Q fi , A % 7 0) I i E g f Q B H fi & I.\ 0 tERBTB, Q 0 R& a 9 270) r > t 3 3 3 9 -cnM* T I ; M , BEc; m!d 13 13 n t; n t! 2 tt h ' 5 cr)tffMQ ti zi 4 2 9 x 7 b c; 5 2 T P Q L t c; dr 5 , Q BB &I L; L m hi 2 15 8 n Q d; 3 I A & n T b\ Q 0 tEi % T r* 2 Q 3 3 . b L' t: c; B It; -d Q tf 2 0) fi h PhtPld, c 9 3 ~~~~~2 t t .~~T b~d r 7 T~~~h a 7 A / Z f '~X b c r ) % ? . i E J I 1 4 ld R I K d; 3 T 6% 3.3 n k tjc . A 81 cn % cr) 3 TJ yt cr) fi h & 2 c; 3 b\ 7 8 5 c; Idf R cn 52it!4f5wBt:R%3n&, INTRODUCTIONControl engineers frequently are faced with the problem of controlling a device to perform a task for which it is not particularly well-suited. A simple example of this is a two-link robot arm with rotary joints. In order to obtain straight-line motion of the end point, the motors at the two joints must properly control the two joint angles simultaneously. This is a nonlinear problem both kinematically and dynamically (Ref.
An algorithm is presented for using a robot system with a single camera to position in threedimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accommodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction. SH7) 81 tH L M rir -A % 7 Q M b\ T 15 8 3 . , 7 k 3 IJ X b P B 1 2 tZ & d( 9 f & i A P a) 8 B B P & i ld . % %9J R $3 Q W l 1 $ Q z t c; ck 3 T 217 8 n Q fi , A % 7 0) I i E g f Q B H fi & I.\ 0 tERBTB, Q 0 R& a 9 270) r > t 3 3 3 9 -cnM* T I ; M , BEc; m!d 13 13 n t; n t! 2 tt h ' 5 cr)tffMQ ti zi 4 2 9 x 7 b c; 5 2 T P Q L t c; dr 5 , Q BB &I L; L m hi 2 15 8 n Q d; 3 I A & n T b\ Q 0 tEi % T r* 2 Q 3 3 . b L' t: c; B It; -d Q tf 2 0) fi h PhtPld, c 9 3 ~~~~~2 t t .~~T b~d r 7 T~~~h a 7 A / Z f '~X b c r ) % ? . i E J I 1 4 ld R I K d; 3 T 6% 3.3 n k tjc . A 81 cn % cr) 3 TJ yt cr) fi h & 2 c; 3 b\ 7 8 5 c; Idf R cn 52it!4f5wBt:R%3n&, INTRODUCTIONControl engineers frequently are faced with the problem of controlling a device to perform a task for which it is not particularly well-suited. A simple example of this is a two-link robot arm with rotary joints. In order to obtain straight-line motion of the end point, the motors at the two joints must properly control the two joint angles simultaneously. This is a nonlinear problem both kinematically and dynamically (Ref.
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