대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제29권4호
  • /
  • Pages.540-554
  • /
  • 2005
  • /
  • 1226-4873(pISSN)
  • /
  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지
DOI QR코드

DOI QR Code

물체의 안정한 조작을 위한 동작의 계획과 운동의 실현

Control Program for Dexterous Manipulation by Robotic Hand

  • 황창순 (한국과학기술원 지능로봇연구센터)
  • 발행 : 2005.04.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

키워드

참고문헌

  1. Dixon, W.E., Walker, I.D., Dawson, D.M. and Hartranft, J.P., 2000, 'Fault Detection for Robot Manipulators with Parametric Uncertainty: A Prediction-error-based Approach,' IEEE Trans. Robot. Automat., Vol. 16, No. 6, pp. 689-699 https://doi.org/10.1109/70.897780
  2. Hor, M.-K. and Wu , S.-C., 1999, 'On the Grasping Stability and Optimality under External Perturbations,' J. Robotic Systems, Vol. 16, No.9, pp.509-526 https://doi.org/10.1002/(SICI)1097-4563(199909)16:9<509::AID-ROB4>3.0.CO;2-K
  3. Jung, S., Hsia, T.C. and Bonitz, R.G., 2001, 'Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment,' Int. J. Robot. Res., Vol. 20, No.9, pp.765-774 https://doi.org/10.1177/02783640122067651
  4. Haidacher, S. and Hirzinger, G., 2003, 'Estimating Finger Contact Location and Object Pose from Contact Measurements in 3D Grasping,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp.1805-1810
  5. Speeter, T.H., 1990, 'Control of the Utah/MIT Dextrous Hand: Hardware and Software Hierarchy,' J. Robotic Systems, Vol. 7, No. 5, pp. 759-790 https://doi.org/10.1002/rob.4620070507
  6. Michelman, P., 1998, 'Precision Object Manipulation with a Multifingered Robot Hand,' IEEE Trans. Robot. Automat., Vol. 14, No. 1, pp. 105-113 https://doi.org/10.1109/70.660851
  7. Borst, C., Fischer, M., Haidacher, S., Liu, H. and Hirzinger, G., 2003, 'DLR Hand II: Experiments and Experiences with an Anthropomorphic Hand,' Proc. of IEEE Int. Conf. Robot. Automat., pp.702-707
  8. Namiki, A., Imai, Y., Ishikawa, M. and Kaneko, M., 2003, 'Development of a High-speed Multifingered Hand System and Its Application to Catching,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp.2666-2671 https://doi.org/10.1109/IROS.2003.1249273
  9. Ji, X. and Xiao, J., 2001, 'Planning Motions Compliant to Complex Contact States,' Int. J. Robot. Res., Vol. 20, No. 6, pp. 446-465 https://doi.org/10.1177/02783640122067480
  10. Rus, D., 1999, 'In-hand Dexterous Manipulation of Piecewise-smooth 3-D Objects,' Int. J. Robot. Res., Vol. 18, No. 4, pp.355-381 https://doi.org/10.1177/02783649922066268
  11. Nguyen, P.T.A. and Arimoto, S., 2002, 'Dexterous Manipulation of an Object by Means of Multi-DOF Robotic Fingers with Soft Tips,' J. Robotic Systems, Vol. 19, No. 7, pp.349-362 https://doi.org/10.1002/rob.10045
  12. Harada, K., Kaneko, M. and Tsuji, T., 2000, 'Rolling-based Manipulation for Multiple Objects,' IEEE Trans. Robot. Automat., Vol. 16, No. 5, pp.457-468. Proc. of IEEE Int. Conf. Robot. Automat., pp.2255-2261 https://doi.org/10.1109/70.880797
  13. Sudsang, A. and Phoka, T., 2003, 'Regrasp Planning for a 4-fingered Hand Manipulating a Polygon,' Proc. of IEEE Int. Conf. Robot. Automat., pp.2671-2676 https://doi.org/10.1109/ROBOT.2003.1241996
  14. Hwang, C.-S. and Sasaki, K., 2003, 'Control Program of Two-fingered Dexterous Manipulation with Primitive Motions,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp.2902-2907 https://doi.org/10.1109/IROS.2003.1249311
  15. Diftler, M.A. and Walker, I.D., 1999, 'Experiments in Aligning Threaded Parts Using a Robot Hand,' IEEE Trans. Robot. Automat., Vol. 15, No. 5, pp.858-868 https://doi.org/10.1109/70.795791
  16. Charlebois, M., Gupta, K. and Payandeh, S., 2000, 'On Estimating Local Shape Using Contact Sensing,' J. Robotic Systems, Vol. 17, No. 12, pp.643-658 https://doi.org/10.1002/1097-4563(200012)17:12<643::AID-ROB1>3.0.CO;2-8
  17. Hwang, C.-S., 2005, 'Kinematics of Grasping and Manipulation of Curved Surface Object with Robotic Hand,' Trans. Korean Society of Mechanical Engineers A, Vol. 29, No. 1, pp. 1-13 https://doi.org/10.3795/KSME-A.2005.29.1.001
  18. Nagashima, T., Seki, H. and Takano, M., 1997, 'Analysis and Simulation of Grasping/manipulation by Multi-fingersurface,' Mech. Mach. Theory, Vol. 32, No. 2, pp.175-191 https://doi.org/10.1016/S0094-114X(96)00054-7
  19. Xydas, N. and Kao, I., 1999, 'Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results,' Int. J. Robot. Res., Vol. 18, No. 8, pp.941-950 https://doi.org/10.1177/02783649922066673
  20. Takao, H., Seki, H., Takano, M. and Sasaki, K., 1995, 'Analysis and Simulation of Grasping/manipulation Dynamics by Multi-finger Surfaces,' Proc. of 9th World Congress on the Theory of Machines and Mechanisms, pp.2272-2276
  21. Liu, Y.-H., 'Qualitative Test and Force Optimization of 3-D Frictional Form-Closure Grasps Using Linear Programming,' IEEE Trans. Robot. Automat., Vol. 15, No. 1, pp.163-173 https://doi.org/10.1109/70.744611
  22. Bicchi, A., 1990, 'Intrinsic Contact Sensing for Soft Fingers,' Proc. of IEEE Int. Conf. Robot. Automat., pp.968-973 https://doi.org/10.1109/ROBOT.1990.126117
  23. Hwang, C.-S., 2005, 'Evaluation and Design for Joint Configurations Based on Kinematic Analysis,' Trans. Korean Society of Mechanical Engineers A, Vol. 29, No. 2, pp.176-187 https://doi.org/10.3795/KSME-A.2005.29.2.176
  24. Sasaki, K., Hirota, T., Fujikake, Y. and Nakaki, H., 2001, 'Signal Processing for Slip and Contact Sensing and Its Application to a Two-fingered Robotic Hand,' Integrated Computer-aided Engineering, Vol. 8, No.4, pp. 283-291
  25. Doulgeri, Z. and Arimoto, S., 2002, 'A Position/force Control for a Robot Finger with Soft Tip and Uncertain Kinematics,' J. Robotic Systems, Vol. 19, No. 3, pp.115-131 https://doi.org/10.1002/rob.10027
  26. Gomi, H. and Kawato, M., 1996, 'Equilibrium-point Control Hypothesis Examined by Measured Arm Stiffness during Multijoint Movement,' Science, Vol. 272, pp.117-120 https://doi.org/10.1126/science.272.5258.117