지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,491 - 1,496 (6page)
이용수
초록· 키워드
오류제보하기
The author reports the development of a multi-finger robot hand with the mechatronics approach. The proposed robot hand has 4 fingers with 14 under-actuated joints driven by 10 linear actuators with linkages.
Each of the 10 nodes in the distributed control system uses position and current feedback to monitor the contact stiffness and control the grasping force according to the motor current change rate. The combined force and position control loop enable the robot hand to grasp an object with the unknown shape. Pre-defined tasks, such as grasping and pinching are stored as scripts in the hand controller to provide a high-level programming interface for the upstream robot controller. The mechanical design, controller design and co-simulation are performed in an integrated model-based software environment, and also for the real time code generation and for mechanical parts manufacturing with a 3D printer.
Based on the same model for design, a virtual robot hand interface is developed to provide off-line simulation tool and user interface to the robot hand to reduce the programming effort in fingers" motion planning. In the development of the robot hand, the mechatronics approach has been proven to be an indispensable tool for such a complex system.
Each of the 10 nodes in the distributed control system uses position and current feedback to monitor the contact stiffness and control the grasping force according to the motor current change rate. The combined force and position control loop enable the robot hand to grasp an object with the unknown shape. Pre-defined tasks, such as grasping and pinching are stored as scripts in the hand controller to provide a high-level programming interface for the upstream robot controller. The mechanical design, controller design and co-simulation are performed in an integrated model-based software environment, and also for the real time code generation and for mechanical parts manufacturing with a 3D printer.
Based on the same model for design, a virtual robot hand interface is developed to provide off-line simulation tool and user interface to the robot hand to reduce the programming effort in fingers" motion planning. In the development of the robot hand, the mechatronics approach has been proven to be an indispensable tool for such a complex system.
목차
Abstract
1. INTRODUCTION
2. MECHANICAL DESIGN OF THE ROBOT HAND
3. CONTROL SYSTEM ARCHITECTURE
4. VIRTUAL HAND SIMULATOR
5. CONCLUSIONS
REFERENCES
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