• 대한기계학회논문집
• /
• 제18권8호
• /
• pp.2016-2025
• /
• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.108.6-108
• /
• 2002

It is greatly important to understand the mechanics of AFM-based nanorobotic manipulation for efficient and reliable handling of nanoparticles. Robust motion control of an AFM-based nanorobotic manipulation is much challenging due to uncertain mechanics in tip-sample interaction dominated by surface and intermolecular force and limitations in force and visual sensing capability to observe environment. This paper investigates a nanomechanic modeling which enables simulation for AFM-based nanorobotic manipulation , and its application to motion planning of an AFM-based nanorobot. Based on the modeling of intermolecular and adhesion force in AFM-based nanomanipulation, the behaviors of an AFM ca...

• International Journal of Control, Automation, and Systems
• /
• 제4권2호
• /
• pp.217-226
• /
• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• 로봇학회논문지
• /
• 제14권2호
• /
• pp.104-113
• /
• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.124-129
• /
• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• 대한기계학회논문집A
• /
• 제29권4호
• /
• pp.540-554
• /
• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• 한국경영과학회:학술대회논문집
• /
• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
• /
• pp.249-252
• /
• 1996

This paper presents an algorithmic approach used in the development of a task-level off-line programming system for the efficient applicaiton of robot. In the method, robot tasks are graphically described with manipulation functions. By applying robot language these graphic robot tasks are converted into commands for the robot. A programming example demonstrates the potentiality of task-oriented robot programming.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 추계학술대회 논문집
• /
• pp.787-792
• /
• 1996

The method of manipulation by striking a part and letting it slide until it comes to rest, has been very little studied. However, the manipulation method is not uncommon in our daily lives. We analyze the dynamic behavior of a rigid polygonal part being striked and sliding on a horizontal surface under the action of fiction. There are two parts in this problem; one is the impact problem, and the other is the sliding problem. We characterize the impact and sliding dynamics with friction for polygonal parts, and present the possibility of reverse calculation for motion planning of striking operations. Using a high speed video camera, the computer simulation results are experimentally verified.

• 로봇학회논문지
• /
• 제16권3호
• /
• pp.283-290
• /
• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• 복식
• /
• 제65권2호
• /
• pp.62-74
• /
• 2015

The purpose of this research is to analyse the process of development and verification of 'National Competency Standards' of Hanbok production, which was carried out in 2013 for the fashion industry. As the result of this research, the definition of the duty in Hanbok production is 'to conduct a series of step-by-step processes of planning and developing fabric and design, then making pattern, cutting fabric and sewing.' The competency unit for Hanbok production is analyzed in 10 categories: analysis of market trends, design plan, production and manipulation of fabric, production process plan, sample making, pattern making, cutting out, sewing, finishing sewing, inspection of the product quality. Competency unit elements of each competency unit are as follows. 1) analysis of market trends: to research market trend resources, to analyse consumers' buying trend, to analyse industry changes, 2) design plan: to develop design, to plan fabrication, to draw flats, 3) production and manipulation of fabric: to develop fabric planning, to prepare fabric manipulation, to conduct fabric manipulation, 4) production process plan: to grasp design, to plan sewing method, to prepare a specification sheet, 5) sample making: to make a sample pattern, to cut sample fabrics, to sew sample, to finish sample making, 6) pattern making: to measure body, to make production pattern, to adjust production pattern, 7) cutting out: to care fabrics, to lay out patterns, to cut out fabrics, 8) sewing: to sew a garment, to sew a lining, to attach a lining, 9) finishing sewing: to neaten edges, to attach trims, to press to finish, 10) inspection of the product quality: to confirm correspondence with the specification sheet, to inspect appearance.