Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Compliance Analysis for Effective handling of Peg-In/Out-Hole Tasks Using Robot Hands

로봇 손을 이용한 팩의 조립 및 분해 작업을 효율적으로 수행하기 위한 컴플라이언스 해석

  • Kim, Byoung-Ho ;
  • Yi, Byung-Ju (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Oh, Sang-Rok (Intelligent Control Research Center, Korea Institute of Science and Technology)
  • 김병호 (한양대학교 전자컴퓨터공학부, 한국과학기술연구원 지능제어연구센터) ;
  • 이병주 (한양대학교 전자컴퓨터공학부) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부) ;
  • 오상록 (한국과학기술연구원 지능제어연구센터)
  • Published : 2000.09.01
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Abstract

This paper provides a guideline for the determination of compliance characteristics and the proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using hands. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole tasks effectively for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play ompliance on the peg and the coupling siffness element existing between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. The analytic results verified through simulations.

Keywords

References

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