A vision based correlator to actively damp vibrations of a coarse-fine manipulator

  title={A vision based correlator to actively damp vibrations of a coarse-fine manipulator},
  author={T. E. Weber and Ralph L. Hollis},
The performance of coarse-fine manipulators operating in the micron range is aflected by both room vibrations and vibrations of the robot joint motors. By applying endpoint sensing the f ine manipulator can be stabilized with respect to the workpiece. 7’hi.s paper describes the evaluation and design ( f a vision based endpoint sensor which is independent qf any Jducials or references attached to the workpiece. By visually sampling the workpiece surface within the operating range of the fine… CONTINUE READING


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