대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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물체형상 기반 로봇 팔 제어

Robot Arm Control using Optimized Pinch Grasp Posture Based on Object Shape

  • 펠릭스 (과학기술연합대학원대학 HCI 및 로봇 응용공학과, 한국 과학 기술 연구원 지능 로봇 센터) ;
  • 오용환 (한국 과학 기술 연구원 지능 로봇 센터)
  • Orlando, M. Felix (HCI and Robotics, Unversity of Science and Technology, Intelligent Robotics Research Centre, Korea Institute of Science and Technology) ;
  • Oh, Yong-Hwan (Intelligent Robotics Research Centre, Korea Institute of Science and Technology)
  • 발행 : 2006.07.12
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초록

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

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