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http://dx.doi.org/10.21289/KSIC.2016.19.2.088

A Study on a Precise Control of Position and Orientation of Robot Gripper for Forming Parts Handling in High Temperature  

Jeong, Yang-Keun (Dept. of Advance Engineering, Kyungnam University)
Kim, Mim-seong (Dept. of Advance Engineering, Kyungnam University)
Jo, Sang-Young (Dept. of Advance Engineering, Kyungnam University)
Won, Jong-Beom (SMEC co., Ltd.)
Won, Jong-Dae (Youngchang Robotech co., Ltd.)
Han, Sung-Hyun (school of mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.19, no.2, 2016 , pp. 88-94 More about this Journal
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.
Keywords
Intelligent Gripper; Precise Control; Force Control; Position and Orientation;
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