Integrating real-time vision and manipulation

Describes a system that integrates real-time computer vision with a sensorless gripper to provide closed-loop feedback control for grasping and manipulation tasks. Many hand-eye coordination skills can be thought of as sensory control loops, where specialized reasoning has been embodied as a feedback or control path in the loop´s construction. Our framework captures the essence of these hand-eye coordination skills in simple visual control primitives, which are a key component of the software integration. The primitives use a simple visual tracking and correspondence scheme to provide real-time feedback control in the presence of imprecise camera calibrations. Experimental results are shown for the positioning task of locating, picking up and inserting a bolt into a nut under visual control. Results are also presented for the visual control of a bolt tightening task