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

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Robot Hand Gripper Design and Robust Control for Assembly and Disassembly Task of Machine Parts

기계 부품의 조립분해 작업을 위한 로봇핸드 그리퍼 설계 및 견실제어에 관한 연구

  • Received : 2017.07.31
  • Accepted : 2017.09.01
  • Published : 2017.09.30
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Abstract

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

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References

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