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김동현(Donghyun Kim),최성현(Sunghyun Choi),강연(Yeon Kang),김영래,윤진곤(Jingon Yoon),윤동원(Dongwon Yun) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In recent years, the influence of robots on human life is grown rapidly. Therefore, several devices are required for robot - human collaboration. It is essential to prepare for a collision by attaching an appropriate adaptive device to the robots joints. In this study, we established a collision-avoidance system by developing a flexible robot wrist module. In addition, we made the wrist module to measure the force-torque for robot control, such as disturbance control. The developed module has a similar shape to the existing Force Torque Sensor. It is composed of materials and shapes that can move larger displacements. We used Robot Operating System (ROS) for evaluating the performance evaluation of this module. We confirmed the possibility of the sensor by attaching it to the UR3 (Universal Robot), a commercial manipulator. Using Gazebo, a ROS simulation environment, we confirmed how the UR3 received the sensor values produced in real-time.