Page 118 - Concise Encyclopedia of Robotics

Eye-In-Hand System
gets a good image, a lamp is included in the gripper along with the
camera (see the drawing).
The so-called eye-in-hand system can be used to measure precisely
how close the gripper is to whatever object it is seeking. It can also make
positive identification of the object, so that the gripper does not go after
the wrong thing.
The eye-in-hand system uses a servomechanism. The robot is equipped
with, or has access to, a controller that processes the data from the camera
and sends instructions back to the gripper.
See also FINE MOTION PLANNING and ROBOT GRIPPER.
Robot arm
Lamp
Lens
Lamp
Camera

Grippers
Eye-in-hand system

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