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고열 단조부품 핸들링을 위한 로봇 그리퍼의 방위 및 포지션 정밀제어에 관한 연구
정양근(Yang-Keun Jeong),김민성(Mim-seong Kim),조상영(Sang-Young Jo),원종범(Jong-Beom Won),원종대(Jong-Dae Won),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.