The paper describes realization of assembly tasks with a hand eye system by integrating a computer vision and a computer controlled manipulator. A vision system of ETL robot which was developed in September 1970 analyzes a scene with a block and a box to make the line drawing, and then computes their relative error of the position and that of the posture. The result is fedback to the manipulator to decrease the error. This process is repeated until the block and the box is precisely assembled.
The paper was published in the journal of the Pattern Recognition Society in the USA and received the Best Paper Award in 1973.