Journal of Advanced Marine Engineering and Technology

  • 제30권3호
  • /
  • Pages.428-437
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  • 2006
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지

손가락 로봇의 안정 파지 운동 제어에 관한 연구

A Study on Control of Stable Grasping Motion for Finger Robot

  • 최종환 (울산대학교 산학협력단)
  • 발행 : 2006.05.01
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초록

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

키워드

참고문헌

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