Hand Eye Coordination

Abstract

This paper describes a simple method of converting visual coordinates to arm coordinates which does not require knowledge of the position of the camera(s). Comparisons are made to other methods and two camera, three dimensional extensions are discusssed. The single camera method for converting points on a tabletop is used by Marc Raibert and Glen Speckert in a working hand-eye system which recognizes objects and picks them up under visual guidance. This was implemented on the MIT Micro-Automation PDP 11/45 using a low speed vidicon and a Scheinman arm.