• Title/Summary/Keyword: 다관절

Search Result 187, Processing Time 0.033 seconds

A System Program for Revolute Type Manipulatora (수직 다관절 로보트를 위한 시스템 프로그램)

  • 최호현;고경철;임계영
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1987.10b
    • /
    • pp.14-18
    • /
    • 1987

  • In this paper, a system program is introduced for the effective operation of revolute type robot manipulator. The I system program consists of several modes and specific functions. These modes and functions are flexible and easy to use because the structure is modular and conversational. This program had implemented and verified the efficiency together with a five axes robot.

  • PDF

충돌회피를 위한 다관절 로봇의 최적 경로계획

  • 최진섭;양성모;강희용
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 1994.10a
    • /
    • pp.913-917
    • /
    • 1994

  • A collision-free geometric path for industrial articulated robot is searched among polyhedral obstacles considering kinematic charcteristics. Then minimum-time control of the geometric path is studied considering dynamic characteristics. The algorithm is simulated on PC for maximum speed, moving time and so forth.

  • PDF

A Study on Model and Control of Pinching Motion for Multi-Fingered Robot (다관절 핑거 로봇의 파지 운동 모델과 제어에 관한 연구)

  • Um H.;Choi J.H.;Kim Y.S.;Yang S.S.;Lee J.G.
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 2005.06a
    • /
    • pp.1060-1067
    • /
    • 2005

  • This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

  • PDF