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로봇 손에 의한 자유곡면 물체의 파지 및 조작에 관한 운동학
Kinematics of Grasping and Manipulation of Curved Surface Object with Robotic Hand

황창순   (한국과학기술연구원 지능로봇연구센터CC0186926  );
  • 초록

    Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.


  • 주제어

    로봇 손 .   손가락 표면 파지 .   손가락 표면 조작 .   자유곡면 물체 .   역 운동학.  

  • 참고문헌 (16)

    1. Murray, R.M., Li, Z. and Sastry, S.S., 1994, 'A Mathematical Introduction to Robotic Manipulation,' CRC Press 
    2. Montana, D.J., 1995, 'The Kinematics of Multi-fingered Manipulation,' IEEE Trans. Robot. Automat., Vol.11, No.4, pp.491-503 
    3. You, J.-H., Park, J.-H., Choi, D.-H., Chong, N.Y., 1998, 'Optimal Grasp Design of Multi-fingered Robot Hand Based on Manipulability and Stability', Trans. Korean Society of Mechanical Engineers A, Vol.22, No.7, pp.1367-1374 
    4. Liu, Y.-H., 2000, 'Computing N-finger Form-closure Grasps on Polygonal Objects,' Int. J. Robot. Res., Vol.19, No.2, pp.149-158 
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    6. Zhu, X. and Wang, J., 2003, 'Synthesis of Force-closure Grasps on 3-D Objects Based on the Q Distance,' IEEE Trans. Robot. Automat., Vol.19, No.4, pp.669-679 
    7. Rus, D., 1999, 'In-hand Dexterous Manipulation of Piecewise-smooth 3-D Objects,' Int. J. Robot. Res., Vol.18, No.4, pp.355-381 
    8. Jia, Y.-B. and Erdmann, M., 1999, 'Pose and Motion from Contact,' Int. J. Robot. Res., Vol.18, No.5, pp.466-490 
    9. 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 
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    11. Tiller, W., 1983, 'Rational B-splines for Cu-e and Surface Representation,' IEEE Computer Graphics and Applications, Sep., pp.61-69 
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    13. Charlebois, M., Gupta, K. and Payandeh, S., 1999, 'Shape Description of Cu-ed Surfaces from Contact Sensing Using Surface Normals,' Int. J. Robot. Res., Vol.18, No.8, pp.779-787 
    14. Rogers, D.F. and Adams, J.A., 1989, 'Mathematical Elements for Computer Graphics,' McGraw Hill, pp.445-456 
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    16. 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 (4)

    1. Hwang Chang-Soon 2005. "Evaluation and Design for Joint Configurations Based on Kinematic Analysis" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 29(2): 176~187     
    2. 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     
    3. 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     
    4. Yang, Hac-Jin ; Kim, Hyung-Tae ; Kim, Seong-Kun 2010. "Comparative Study of Modeling of Hand Motion by Neural Network and Kernel Regression" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 34(4): 399~405     

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