인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
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.
초록·키워드
Human-assistive robots need to perform trajectory making for and control of a robotic hand along the many rotating mechanisms in our living spaces. If such trajectory control can be performed without high-cost sensors, certainly a significant cost reduction in building the robot will be achieved. This paper describes a method of retrieving a file binder by generating a pseudo-curved trajectory for tilting it using a simple system. A simple claw mechanism with a switch sensor to grasp an object was designed and 3D-printed, and it was attached to a 6-DOF foldable robotic hand developed by the authors. A method for generating a pseudo-curved trajectory using the switch sensor was developed, and the robotic hand was successfully moved along this trajectory to tilt and grasp a file binder to retrieve it from a bookshelf. Experiments to clarify the success rate were also conducted, and it was found that the results depend on the rotational speed of manipulator links and the vibration of the claw mechanism link. A rubber sponge was added to give flexibility to the claw mechanism, which significantly improved the success rate. Furthermore, a control system to recover from tilting failure was constructed, and its effectiveness was validated by experiments.
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
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