A Study on Specifying Compliance Characteristics for Assembly Tasks Using Robot Hands: Two Dimensional Model

로봇 손을 이용한 조립 작업의 컴플라이언스 특성 설정에 관한 연구:2차원 모델

  • 김병호 (한양대학교 전자컴퓨터공학부, 한국과학기술원 지능제어연구센터) ;
  • 오상록 (한국과학기술연구원 지능제어연구원) ;
  • 이병주 (한양대학교 전자컴퓨터공학부) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부)
  • Published : 2001.01.01

Abstract

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. Through various assembly tasks, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. Also, we show that some of coupling stiffness elements in the operational space cannot be planned arbitrarily. As a result it is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

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