Publication

Hanyang University HumanRobotics Lab

Domestic Conference
로봇 손을 이용한 2차원 조립 작업의 컴플라이언스 특성 설정 기준
Conference
제어로봇시스템학회 국내학술대회 논문집
Author
김병호, 오상록, 이병주, 서일홍
Year
2000
Date
2000.10.19
File
[2000]로봇 손을 이용한 2차원 조립 작업의 컴플라이언스 특성 설정 기준.pdf (405.6K) 0회 다운로드 DATE : 2020-10-17 17:18:41
This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. To be specific, some of coupling stiffness elements cannot be planned arbitrary. Through T-type assembly task, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. It is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.