Automatic handling of non-rigid materials with small dimensions, such as threads with a typical diameter between 0.1 and 1 mm, is a difficult task because the position of the objects is unstable due to their non-rigid nature. In this paper a vision-guided mini-robot is presented able to handle such non-rigid materials. Visual servoing is used to control the position of the end-effector in a closed-loop fashion. The same vision system is used to monitor the grasping process and to detect failures. The system tries automatically to correct the failures and in this way the performance of the system is increased significantly.
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