A means and method for camera space manipulation includes a manipulator arm extending from a base to an outward end. The arm is movable through a workspace to accomplish various tasks. One or more cameras are movably oriented towards the arm and work space to capture the arm and work space in what will be called camera space or camera vision. A visual cue is associated with the outward end of the manipulator arm. Additionally, a visual cue is associated with an object which is desired to be engaged by the manipulator arm or by what is held by the manipulator arm. A control device is connected to the camera or cameras and to the manipulator. According to identification and tracking of the visual cues in the camera space, the control device instructs appropriate motors to move the manipulator arm according to estimations for engagement calculated by the control device.
Iowa State University Research Foundation, Inc.
Skarr, Steven B. and Brockman, William H., "Means and method of camera space manipulation" (1989). Iowa State University Patents. 102.