Kucuk, HParker, GBaumgartner, ET2019-08-012019-08-0120040263-5747https://dx.doi.org/10.1017/S0263574703005629https://hdl.handle.net/11480/5666Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.eninfo:eu-repo/semantics/closedAccessmachine visioncamera space manipulationrobotvision systemArticle2230130710.1017/S02635747030056292-s2.0-2942754132Q1WOS:000222299300005Q3