대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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- Pages.244-248
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- 1987
조립용 로보트의 힘.토오크 센서 및 컴플라이언스 알고리즘의 개발
Development of Force/Torque Sensor and Compliance Algorithm for Assembly Robots
- 고낙용 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
- 고명삼 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
- 하인중 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
- 이범희 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실)
- Ko, Nak-Yong (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
- Ko, Myoung-Sam (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
- Ha, In-Joong (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
- Lee, Bum-Hee (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University)
- 발행 : 1987.07.03
초록
The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure
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