http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
다지 다관절 로봇 손 시스템 개발과 파지 동작 제어에 관한 연구
임미섭 ( Mee-seub Lim ),윤인식 ( In-sik Yun ) 한국고등직업교육학회 2003 한국고등직업교육학회논문집 Vol.4 No.3
This paper addresses the development of 3-fingered robot hand and the grasp synthesis to find the grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose the fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain the force closure grasp by multi-fingered robot hand. For the optimum grasp, we develop the preference and the hibernation process and also we assign the physical constraints of robot hand to the motion of each finger. The performance of presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps.
로봇 시스템의 강성도 작업 적응성을 갖는 하이브리드 동작 제어
임미섭 ( Mee-seub Lim ) 한국고등직업교육학회 2004 한국고등직업교육학회논문집 Vol.5 No.4
In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamic system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.