Eye-to-Hand Coordination for Vision-Guided Robot Control Applications

A great many tasks in automated manufacturing and assem bly involve robot operations guided by vision systems. In such situations, linking of machine vision systems and robot manipu lators has relied on accurate camera-to-real world calibration processes and on highly accurate robot arms with well-known kinematics. This article describes a real-time vision-control strategy for "hand-to-eye coordination " that gives good per formance even in the presence of significant vision system miscalibrations and kinematic model parametric errors.