제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.52-56
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- 1990
다지 다관절 로봇 손의 최적 접촉력 결정 방법
Determination of optimal contact forces for multi-fingered robotic hands
초록
An algorithm is proposed to determine the optimal contact forces of robotic hands, where the soft finger contact as well as the frictional point contact are considered. Especially, the algorithm can be efficiently applied to the case of multi-point contact by inner-link as well as fingertip. To show the validities of the algorithm, several numerical exampies are presented by employing a robotics hand with three fingers each of which has four joints.
키워드