Abstract
A description is given of the work of the European Economic Community ESPRIT 278 project, which is concerned with the development of an integrated sensor-based (tactile plus vision) robot system capable of intelligent action within the area of workpiece positioning and orientation. A vision system is used to provide an initial estimate of workpiece position and orientation, allowing the robot to grasp the object. During the grasping phase, the tactile sensor confirms, modifies, or improves the initial information provided by the vision system. The project is now at the final phase, and the integrated components show satisfactory performance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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