제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.517-522
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- 1991
An analysis of the grasping pose of robot using force / torque information
힘 및 토오크 정보를 이용한 로보트의 잡는 자세 해석
Abstract
In this paper, robot's grasping poses are classified into three cases, and force/torque information in each grasping pose is analyzed. In the grasping process, error between the desired and the actual grasping poses can be generated because of uncertainty in the environment. A systematic algorithm is presented, that uses the force/torque information generated by grasping pose error to estimate robot's actual grasping pose.
Keywords