로봇 손을 이용한 2차원 조립 작업의 컴플라이언스 특성 설정 기준

A Guideline for Specifying Compliance Characteristics of Two Dimensional Assembly Tasks using Robot Hands

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, To be specific, some of coupling stiffness elements cannot be planned arbitrary. Through T-type assembly task, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. 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.