대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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- Pages.138-141
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- 2002
다지 로봇 시스템의 설계 및 개발에 관한 연구
A Research on the Design and Development of a Robot System with Multi-fingered Hands
- Lee, Ho-Youn (Electric Engineering Graduate School in Hongik Univ.) ;
- Lee, Jong-Soo (Electric Engineering Graduate School in Hongik Univ.)
- 발행 : 2002.11.30
초록
In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.
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