Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2019-05-20T06:02:57Z | - |
dc.date.available | 2019-05-20T06:02:57Z | - |
dc.date.issued | 2008-09 | - |
dc.identifier.citation | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Page. 967-973 | en_US |
dc.identifier.isbn | 978-142442058-2 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/4651225 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/104852 | - |
dc.description.abstract | In tightly coupled cooperative manipulation of two arms, an interaction force control is one of the important issues. In this paper, a sensor-less interaction force control in a de-burring task using a dual-arm is introduced. The dual arm manipulation increases the motion dexterity in the de-burring task as compared to the single arm manipulation. A closed form interaction force control algorithm is proposed, which does not require any force sensor. In the motion planning, the 12 Lagrangian coordinates of the system are decomposed into 9 motion degrees and 3 constrained degrees. Then, the whole dual arm can be modeled as a kinematically redundant robot. The primary task is to control the 9 motion degrees and the secondary task is to control the interaction force and the relative motion between the two arms. The concept of virtual joints is employed to represent the constrained degrees, which include the interaction force and the relative motion between the two arms. Through the simulation results, we show that the smooth de-burring task can be accomplished by using the suggested interaction force model without force sensor. | en_US |
dc.description.sponsorship | This work was supported by the MOCIE & ETEP (Electric Power Technology Evaluation & Planning Center), Republic of Korea (I-2007-0-267-0-001). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE | en_US |
dc.title | Force Sensor-less Interaction Force Control in the De-burring Task Using Dual-arm Manipulation | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/IROS.2008.4651225 | - |
dc.contributor.googleauthor | Choi, Jae Yeon | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | cyj | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.