제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Two-dimensional object contour tracking by a force controlled manipulator

  • Choi, Myoung-Hwan (Robotics & Intelligent Systems Lab., Dept. of Control and Instrumentation Engineering, Seoul National University) ;
  • Ko, Myoung-Sam ;
  • Lee, Bum-Hee
  • Published : 1987.10.01
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Abstract

The ability of a robotic manipulator to recognize the shape of an object by feeling its band around the object is useful in many applications. Two-dimensional object contour tracking by force feedback is described. The system consists of IBM PC/AT, PUMA 560 manipulator, PUMA controller and a tip sensor. Position control is accomplished by using VAL command and the unmodified PUMA controller. A contour tracking algorithm is developed and tested on three different types of objects. The experimental results show that the objects' shapes can be successfully identified.

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