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
- 학술저널
- 저자정보
- 발행연도
- 2005.4
- 수록면
- 540 - 554 (15page)
이용수
초록· 키워드
오류제보하기
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.
목차
Abstract
1. 서론
2. 요소동작의 분류와 실현방법
3. 물체의 안정적 조작을 위한 실현전략
4. 실험장치
5. 요소동작의 실현
6. 응용동작의 실현
7. 결론
참고문헌
참고문헌 (26)
참고문헌 신청
Dixon, W.E., Walker, J.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.
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
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.
Haidacher, S. and Hirzinger, G., 2003, "Estimating Finger Contact Location and Object Pose from Contact Measurements in 3-D Grasping," Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp. 1805~1810
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.
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
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.
Haidacher, S. and Hirzinger, G., 2003, "Estimating Finger Contact Location and Object Pose from Contact Measurements in 3-D Grasping," Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp. 1805~1810
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.
함께 읽어보면 좋을 논문
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UCI(KEPA) : I410-ECN-0101-2009-550-014536496