로봇 손을 이용한 팩의 조립 및 분해 작업을 효율적으로 수행하기 위한 컴플라이언스 해석
김병호， 이병주， 서일홍， 오상록 - 제어· 자동화· 시스템공학 논문지, 2000 - kiss.kstudy.com
This paper provides a guideline for the determination of compliance characteristics and the
proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using
hands. We first observe the fact that some of coupling stiffness elements cannot be planned
arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we
analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole
tasks effectively for each case. It is concluded that the location of the compliance center on …
proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using
hands. We first observe the fact that some of coupling stiffness elements cannot be planned
arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we
analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole
tasks effectively for each case. It is concluded that the location of the compliance center on …
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