Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on a Precise Control of Position and Orientation of Robot Gripper for Forming Parts Handling in High Temperature

고열 단조부품 핸들링을 위한 로봇 그리퍼의 방위 및 포지션 정밀제어에 관한 연구

  • Received : 2016.05.13
  • Accepted : 2016.06.10
  • Published : 2016.06.30
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Abstract

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.

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References

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