• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• Korean Journal of Food Science and Technology
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• v.33 no.4
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• pp.427-436
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• 2001

The effects of storage form (paddy and milled rice) and storage period (1, 2, and 3 years) of rice at low temperature $(4^{\circ}C)$ on physicochemical properties of milled and cooked rice and sensory characteristics of cooked rice were investigated. The proximate compositions except moisture content of rice decreased as the storage period increased. Water binding capacity, solubility and swelling power of rice flour decreased with the extended storage period. In the amylogram, the initial pasting temperature, paste viscosity and breakdown of paddy rice flour slurry decreased after 2 years of storage. Moisture content of cooked rice increased while the amount of water evaporated during cooking decreased. These trends were obvious with the longer storage period. Lightness and yellowness of cooked rice were greatly changed after 3 years of storage, regardless of storage form. Texture profile analysis of cooked rice by Texture Analyzer revealed that hardness, fracturability, gumminess were gradually increased while adhesiveness decreased as the storage period of rice increased. A trained panel found that color intensity, intactness of grains, rancid flavor, rice bran flavor, wet cardboard flavor, hardness and chewiness of cooked rice increased with the longer storage period. However, glossiness, transparency, plumpness, puffed corn flavor, dairy flavor, boiled egg white flavor, sweet taste, adhesiveness to lips, smoothness and inner moisture decreased with the extended storage period up to 3 years. Instrumental hardness was highly correlated with sensory hardness.