Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted cameras often suffer from occlusions when either assembling or disassembling from an existing structure. To address the challenge, this paper introduces "Eye-in-Finger", a novel tool design approach that enhances robotic manipulation by embedding low-cost, high-resolution perception directly at the tool tip. We validate our approach using LEGO assembly and disassembly tasks, which require the robot to manipulate in a cluttered environment and achieve sub-millimeter accuracy and robust error correction due to the tight tolerances. Experimental results demonstrate that our proposed system enables real-time, fine corrections to alignment error, increasing the tolerance of calibration error from 0.4mm to up to 2.0mm for the LEGO manipulation robot.

翻译：在机器人装配中，微小且公差紧密的物体的操作与插入，由于所需的高精度和杂乱的环境，仍然是基于视觉的机器人系统面临的关键挑战。传统的全局或腕部安装摄像头在从现有结构进行组装或拆卸时，常受到遮挡问题的影响。为应对这一挑战，本文提出了“眼在指尖”，这是一种新颖的工具设计方法，通过在工具尖端直接嵌入低成本、高分辨率的感知能力来增强机器人操作。我们使用乐高积木的组装与拆卸任务验证了我们的方法，这些任务要求机器人在杂乱环境中进行操作，并因公差紧密而需达到亚毫米级的精度和稳健的误差纠正能力。实验结果表明，我们所提出的系统能够对对准误差进行实时、精细的纠正，将乐高操作机器人的标定误差容限从0.4毫米提高到最高2.0毫米。