• Title/Summary/Keyword: grasping manipulation

Search Result 34, Processing Time 0.022 seconds

Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities (순응형 파지와 정밀한 집기가 가능한 유연한 그리퍼의 강도 및 강성 분석)

  • Lee, Deok Won;Jeon, Hyeong Seok;Jeong, Young Jun;Kim, Yong Jae
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.22 no.10
    • /
    • pp.817-825
    • /
    • 2016
  • In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

Safety Design analysis of a Robot Hand for Accurate Grasping Various Objects (정밀한 파지를 할 수 있는 로봇 손의 안정성 평가)

  • Lee, Min-Gyu;Lee, Yong-Hoon;Yim, Hong-Jae;Lee, Yong-Kwun
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
    • /
    • 2007.11a
    • /
    • pp.1203-1210
    • /
    • 2007
  • Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.

  • PDF

다중센서를 이용한 로봇 손의 파지 제어

  • 이양희;서동수;박민용;이종원
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1996.10b
    • /
    • pp.694-697
    • /
    • 1996
  • The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

  • PDF

Vision-Based Robot Manipulator for Grasping Objects (물체 잡기를 위한 비전 기반의 로봇 메뉴플레이터)

  • Baek, Young-Min;Ahn, Ho-Seok;Choi, Jin-Young
    • Proceedings of the KIEE Conference
    • /
    • 2007.04a
    • /
    • pp.331-333
    • /
    • 2007
  • Robot manipulator is one of the important features in service robot area. Until now, there has been a lot of research on robot" manipulator that can imitate the functions of a human being by recognizing and grasping objects. In this paper, we present a robot arm based on the object recognition vision system. We have implemented closed-loop control that use the feedback from visual information, and used a sonar sensor to improve the accuracy. We have placed the web-camera on the top of the hand to recognize objects. We also present some vision-based manipulation issues and our system features.

  • PDF

A Joint Motion Planning Based on a Bio-Mimetic Approach for Human-like Finger Motion

  • Kim Byoung-Ho
    • International Journal of Control, Automation, and Systems
    • /
    • v.4 no.2
    • /
    • 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.

Force Arrow: An Efficient Pseudo-Weight Perception Method

  • Lee, Jun
    • Journal of the Korea Society of Computer and Information
    • /
    • v.23 no.7
    • /
    • pp.49-56
    • /
    • 2018
  • Virtual object weight perception is an important topic, as it heightens the believability of object manipulation in immersive virtual environments. Although weight perception can be achieved using haptic interfaces, their technical complexity makes them difficult to apply in immersive virtual environments. In this study, we present a visual pseudo-haptic feedback system that simulates and depicts the weights of virtual objects, the effect of which is weight perception. The proposed method recognizes grasping and manipulating hand motions using computer vision-based tracking methods, visualizing a Force Arrow to indicate the current lifting forces and its difference from the standard lifting force. With the proposed Force Arrow method, a user can more accurately perceive the logical and unidirectional weight and therefore control the force used to lift a virtual object. In this paper, we investigate the potential of the proposed method in discriminating between different weights of virtual objects.

Implementation and experiment of bilateral force control for a telemanipulator (원격조작기의 양방향 힘제어의 구현과 실험)

  • 천자홍;정명진
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1991.10a
    • /
    • pp.838-843
    • /
    • 1991
  • A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

  • PDF

Inverse Kinematics of Robot Fingers with Three Joints Using Neural Network (신경회로망을 이용한 3관절 로봇 손가락의 역기구학)

  • Kim, Byeong-Ho
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • 2007.11a
    • /
    • pp.159-162
    • /
    • 2007
  • The inverse kinematics problem in robotics is an essential work for grasping and manipulation tasks by robotic and humanoid hands. In this paper, an intelligent neural learning scheme for solving such inverse kinematics of humanoid fingers is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.

  • PDF

Design on the articulated robotic hand (다관절 로보트 손의 설계)

  • 백상은;진상태;성흥석;이쾌희
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1993.10a
    • /
    • pp.276-280
    • /
    • 1993
  • An articulated, multifinger mechanical hand can carry out grasping and manipulation operations on objects of different type and shape. In this paper the architecture of the mechanical hand is presented. Joints are driven by two antagonist tendons. Strain gauges are used to derive tendon tensions, and located in the palm of the hand. Angular defection of the joints is measured by Hall effect sensors attached to the joints. A multiprocessor-based architecture for controlling the hand is illustrated.

  • PDF

A Study on Virtual Assembly Simulation Using Virtual Reality Technology (가상현실 기술을 이용한 가상 조립 시뮬레이션에 대한 연구)

  • Kim, Yong-Wan;Park, Jin-Ah
    • Journal of Korea Multimedia Society
    • /
    • v.13 no.11
    • /
    • pp.1715-1727
    • /
    • 2010
  • Although a hand haptic interaction which provides direct and natural sensation is the most natural way of interacting with VR environment, the hand haptic interaction has still limitations with respect to the complexity of articulated hand and related hardware capabilities. Particularly, virtual assembly simulation which refers to the verification process of digital mockup in product development lifecycle is one of the most challenging topics in virtual reality applications. However, hand haptic interaction is considered as a big obstacle, because difficulty initial grasping and non-dextrous manipulation remain as unsolved problems. In this paper, we propose that common hand haptic interactions involves two separate stages with different aspects. We present the hand haptic interaction method enables us to stably grasp a virtual object at initial grasping and delicately manipulate an object at task operating by one's intention. Therefore, proposed method provides the robustness using grasping quality and dextrous manipulation using physically simulation. We conducted experiments to evaluate the effectiveness of our proposed method under different display environments -monoscopic and stereoscopic. From 2-way ANOVA test, we show that the proposed method satisfies two aspects of hand haptic interaction. Finally, we demonstrated an actual application of various assembly simulation for relatively complex models.