제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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- Pages.892-897
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- 1987
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
- 발행 : 1987.10.01
초록
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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