Abstract
The paper presents results from experiments conducted to test the limits on precision and versatility of the method of camera-space manipulation for manufacturing operations. The task used as the basis for the experiment is a close-tolerance rigid-body mating task. The receiving piece is stationary and arbitrarily positioned and oriented. Motion of the inserted piece requires six degrees of freedom for task completion. This is accomplished using the very large GMF S-400 manipulator. The maneuver is guided entirely by information from two uncalibrated cameras. Without the benefit of passive compliance, relative position resolution of the two pieces of about half a millimeter is achieved with considerable reliability. The experiment makes use of newly-developed “ring” cues (and associated image-analysis software) which are painted on the two bodies to be joined.
