제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.132.6-132
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- 2001
Research of Stable Grasping for Handling Tasks in Field Robot
- Park, Kyung-Taek (Univ. of Ulsan) ;
- Kim, Sung-Su (Univ. of Ulsan) ;
- Yang, Soon-Yong (Univ. of Ulsan) ;
- Lee, Byung-Rong (Univ. of Ulsan) ;
- Ahn, Kyoung-Kwan (Univ. of Ulsan) ;
- Han, Hyun-Yong (Choonhae Univ.)
- 발행 : 2001.10.01
초록
This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.
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