본문 바로가기
HOME> 논문 > 논문 검색상세

논문 상세정보

운동학에 기초한 로봇 손가락의 관절구조 평가 및 설계
Evaluation and Design for Joint Configurations Based on Kinematic Analysis

황창순   (한국과학기술연구원 지능로봇연구센터CC0186926  );
  • 초록

    This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.


  • 주제어

    로봇 손가락 .   손가락 표면 조작 .   역 운동학 .   손가락 관절구조 .   조작공간.  

  • 참고문헌 (22)

    1. Montana, D.J., 1995, 'The Kinematics of Multi-fingered Manipulation,' IEEE Trans. Robot. Automat., Vol. 11, No.4, pp. 491-503 
    2. Cherif, M. and Gupta, KK, 2001, 'Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding,' Int. J. Robot. Res., Vol. 20, No.1, pp.57-84 
    3. Kiss, B., Levine, J. and Lantos, B., 2002, 'On Motion Planning for Robotic Manipulation with Permanent Rolling Contacts,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 443-461 
    4. Jia, Y.-B. and Erdmann, M., 1999, 'Pose and Motion from Contact,' Int. J. Robot. Res., Vol. 18, No.5, pp. 466-490 
    5. Cherif, M. and Gupta, KK, 1999, 'Planning Quasi-static Fingertip Manipulations for Reconfiguring Objects,' IEEE Trans. Robot. Automat., Vol. 15, No.5, pp. 837-848 
    6. Zheng, X.-Z., Nakashima, R. and Yoshikawa, T., 2000, 'On Dynamic Control of Finger Sliding and Object Motion in Manipulation with Multifingered Hands,' IEEE Trans. Robot. Automat., Vol. 16, No.5, pp. 469-481 
    7. Arimoto, S., Yoshida, M., Bae, J.-H. and Tahara, K., 2003, 'Dynamic Force/torque Balance of 2D Polygonal Objects by a Pair of Rolling Contacts and Sensory-motor Coordination,' J. Robotic Systems, Vol. 20, No. 9, pp. 517-537 
    8. Hirzinger, G., Brunner, B., Landzettel, K., Sporer, N., ButterfaB, J. and Schedl, M., 2003, 'Space Robotics-DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands,' Autonomous Robots, Vol. 14, No. 2-3, pp, 127-145 
    9. Carrozza, M.C., Daria, P., Vecchi, F., Roccella, S., Zecca, M. and Sebastiani, F., 2003, 'The CyberHand: on the Design of a Cybernetic Prosthetic Hand Intended to be Interfaced to the Peripheral Nervous System,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp.2642-2647 
    10. Xydas, N. and Kao., I., 1999, 'Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results,' Int. J. Robot. Res., Vol. 18, No.8, pp.941-950 
    11. Erkmen, I., Erkmen, A.M. and Giinver, H., 2000, 'Robot Hand Preshaping and Regrasping Using Genetic Algorithms,' Int. J. Robot. Res., Vol. 19, No.9, pp.857-874 
    12. Nagashima, T., Seki, H. and Takano, lV1., 1997, 'Analysis and Simulation of Grasping/manipulation by Multi-fingersurface,' Mech. Mach. Theory, Vol. 32, No.2, pp. 175-191 
    13. Takahashi, H., Takano, M., Sasaki, K. and Seki, H., 1996, 'Grasping/manipulation of an Object with Any Shape by Multifingersurfaces,' Proc. of 2nd ECPD Int. Conf. Advanced Robot., Intelligent Automat. and Active Syst., pp.498-503 
    14. Hwang, C.-S., 2005, 'Kinematics of Grasping and Manipulation of Curved Surface Object with Robotic Hand,' Trans. Korean Society of Mechanical Engineers A, Vol. 29, No.1, pp.1-13     
    15. Salisbury, J.K. and Craig, J.J., 1982, 'Articulated Hands: Force Control and Kinematic Issues,' Int. J. Robot. Res., Vol. 1, No.1, pp.4-17 
    16. Bicchi, A. and Marigo, A., 2002, 'Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 427-442 
    17. Harada, K., Kawashima, T. and Kaneko, M.,2002, 'Rolling Based Manipulation under Neighborhood Equilibrium,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 463-474 
    18. Kerr, J. and Roth, B., 1985, 'Analysis of Multifingered Hands,' Int. J. Robot. Res., Vol.4, No.4, pp. 3-17 
    19. Wang, L.-C.T. and Hsieh, J.-H., 1998, 'Extreme Reaches and Reachable Workspace Analysis of General Parallel Robotic Manipulators,' J. Robotic Systems, Vol. 15, No.3, pp.145-159 
    20. Michelman, P., 1998, 'Precision Object Manipulation with a Multifingered Robot Hand,' IEEE Trans. Robot. Automat., Vol. 14, No.1, pp. 105-113 
    21. Jacobsen, S.C., Iversen, E.K., Knutti, D.F., Johnson, R.T. and Biggers, K.B., 1986, 'Design of the Utah/M.I.T. Dextrous Hand,' Proc. of IEEE Int. Conf. Robot. Automat., pp. 1520-1532 
    22. Hwang, C.-S. and Sasaki, K., 2003, 'Evaluation of Robotic Fingers Based on Kinematic Analysis,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp. 3318-3324 
  • 이 논문을 인용한 문헌 (3)

    1. Hwang Chang-Soon 2005. "Estimation Method for Kinematic Constraint of Unknown Object by Active Sensing" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 29(2): 188~200     
    2. Hwang Chang-Soon 2005. "Control Program for Dexterous Manipulation by Robotic Hand" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 29(4): 540~554     
    3. Ko, Hun-Keon ; Cho, Chang-Hee ; Kim, Kwon-Hee 2010. "Design of an Economic Service Robot Hand Based on Biomimetics and TRIZ" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 34(11): 1741~1747     

 저자의 다른 논문

  • 황창순 (3)

    1. 2005 "Teleloperation of Field Mobile Manipulator with Wearable Haptic-based Multi-Modal User Interface and Its Application to Explosive Ordnance Disposal" Journal of mechanical science and technology 19 (10): 1864~1874    
    2. 2005 "미지 물체의 구속상태에 관한 실시간 추정방법" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A 29 (2): 188~200    
    3. 2005 "로봇 손에 의한 자유곡면 물체의 파지 및 조작에 관한 운동학" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A 29 (1): 1~13    

 활용도 분석

  • 상세보기

    amChart 영역
  • 원문보기

    amChart 영역

원문보기

무료다운로드
유료다운로드

유료 다운로드의 경우 해당 사이트의 정책에 따라 신규 회원가입, 로그인, 유료 구매 등이 필요할 수 있습니다. 해당 사이트에서 발생하는 귀하의 모든 정보활동은 NDSL의 서비스 정책과 무관합니다.

원문복사신청을 하시면, 일부 해외 인쇄학술지의 경우 외국학술지지원센터(FRIC)에서
무료 원문복사 서비스를 제공합니다.

NDSL에서는 해당 원문을 복사서비스하고 있습니다. 위의 원문복사신청 또는 장바구니 담기를 통하여 원문복사서비스 이용이 가능합니다.

이 논문과 함께 출판된 논문 + 더보기