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박경택,박찬훈,신영재,모용선,권장열,신윤성 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
Industrial robot is used to accomplish the repeated simple job efficiently and the improvement of its productivity is already proven in long time age. But so far the industrial robot has the limitation of its application in industrial site. And in this study the technology of robot application is shown to expand the scope of robot application. Even though human being could easily accomplish the complex assembly jobs by using the arm with dexterous gripper, there are several problems in the case of robot application to those jobs. Because of these reasons, in this study the function of visual servo and the cooperation control of dexterous hands are realized to accomplish the given assembly jobs.