Visual Feedback and Related Problems in Computer Controlled Hand Eye Coordination
STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
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A set of programs for precise manipulation of simple planar bounded objects, by means of visual feedback, was developed for use in the Stanford hand-eye system. The system includes a six degrees of freedom computer controlled manipulator arm and hand and a fully instrumented computer controlled television camera. The image of the hand and manipulated objects is acquired by the computer through the camera. The stored image is analyzed using a corner and line finding program developed for this purpose. The analysis is simplified by using all the information available about the objects and the hand, and previously measured coordination errors. Simple touch and force sensing by the arm help the determination of three dimensional positions from one view.
- Computer Programming and Software
- Computer Hardware