Temporal registration for assembly, in (original) (raw)

1995

Abstract

The role of visual registration in executing assembly tasks is examined. A framework to execute assembly operations is presented in which assembly tasks are executed using a nite state machine that supervises the interaction between registration and control com-ponents. Temporal registration is achieved visually us-ing a camera pair by combining image based feature tracking and weak camera-object calibration. A peg-in-hole insertion operation is demonstrated. 1

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