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.
이용수
초록· 키워드
오류제보하기
This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual ?arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.
목차
Abstract
1. 서론
2. 양팔 조작성 지수
3. 성능지수 평가 함수
4. 실험 결과
5. 결론
참고문헌
참고문헌 (17)
참고문헌 신청
1. [학술대회논문] - Y. C. Lee / 2008 / Object grasp method of the service robot using the robot vision / Conference on Korean Society for Precision Engineering 3 : 7 ~ 8
2. [학술대회논문] - N. Vahrenkamp / 2009 / Planning and execution of grasping motions on a humanoid robot / IEEERAS International Conference on Humanoid Robots
3. [학술대회논문] - C. Eitner / 2008 / Task and vision based online manipulatortrajectory generation for a humanoid robot / Humanoid Robots, 2008. Humanoids 2008. 8thIEEE‐RAS International Conference : 293 ~ 298
4. [학술대회논문] - C. Ott / 2006 / A humanoid twoarm system for dexterous manipulation / IEEERAS Int. Conf. on Humanoid Robots : 276 ~ 283
5. [학술대회논문] - A. Miller / 2003 / Automatic grasp planning using shape primitives / International Conference on Robotics and Automation 2 : 1824 ~ 1829
2. [학술대회논문] - N. Vahrenkamp / 2009 / Planning and execution of grasping motions on a humanoid robot / IEEERAS International Conference on Humanoid Robots
3. [학술대회논문] - C. Eitner / 2008 / Task and vision based online manipulatortrajectory generation for a humanoid robot / Humanoid Robots, 2008. Humanoids 2008. 8thIEEE‐RAS International Conference : 293 ~ 298
4. [학술대회논문] - C. Ott / 2006 / A humanoid twoarm system for dexterous manipulation / IEEERAS Int. Conf. on Humanoid Robots : 276 ~ 283
5. [학술대회논문] - A. Miller / 2003 / Automatic grasp planning using shape primitives / International Conference on Robotics and Automation 2 : 1824 ~ 1829
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UCI(KEPA) : I410-ECN-0101-2020-559-001259125