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COMPLETED RESEARCH TASK - IMAGE GALLERY
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SCAIP: Integrated System for Single Command Approach and Instrument Placement

EPEC: End-Effector Position Error Compensation - EPEC provides vision-based correction of arm pose by stereo viewing of an end-effector mounted visual target, comparing the determined position with that indicated by arm kinematics and joint angle sensing alone. Left: one of the full resolution stereo images. Center: a comparison of the determined and desired positions of the end-effector target. Right: the view after motion correction.
EPEC: End-Effector Position Error Compensation		 SCAIP: Integrated System for Single Command Approach and Instrument Placement - The FIDO rover placing a close focus imager against surface rocks during desert field tests.
SCAIP: Integrated System for Single Command Approach and Instrument Placement

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