서지주요정보
6축 힘 감지기를 사용한 chamfer가 없는 부품의 조립 작업 = Chamferless part-mating using 6-axis force sensor
서명 / 저자 6축 힘 감지기를 사용한 chamfer가 없는 부품의 조립 작업 = Chamferless part-mating using 6-axis force sensor / 성영휘.
저자명 성영휘 ; Sung, Young-Whee
발행사항 [대전 : 한국과학기술원, 1991].
Online Access 제한공개(로그인 후 원문보기 가능)원문

소장정보

등록번호

8002095

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 9127

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Active part-mating algorithms using 6-axis force sensor data for the assembly automation and/or telerobotics are presented and experimented. Parts to be mated are cylindrical and have no chamfers. Most of assembly tasks can be divided into two basic modes; the normal mode which has only a positional error and the tilted mode which has an orientational error as well as a positional error. In the normal mode, a simple and fast algorithm using the are tangent(atan2) function value of the x and the y components of the moment around the tip of the peg is presented and experimented. In this algorithm, by aligning the world frame of the robot with the sensor frame in a specific manner, the value of the atan2 function tells us the direction of the positional error and the direction the robot should move to. In the tilted mode, the presented algorithm distinguishes a contact external to the hole from that of internal to the hole by comparing the tangential component of the contact force with the vertical component of it. Then, it moves an external contact into an internal contact by assuming that only a positional error exists (i.e. same as normal mode). After moving the peg into the hole, it corrects an orientational error. Finally, in the combined mode of the above two, there is no a priori information about the relative tilt between a peg and a hole. In this case, the algorithm to perform part-mating in spite of the tilt is only the combination of the above two algorithms because of the fact that the algorithm for the tilted mode distinguishes an external contact from an internal contact.

서지기타정보

서지기타정보
청구기호 {MEE 9127
형태사항 [ii], 66 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Young-Whee Sung
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 수록
주제 Assembling machines.
Robot --Control systems.
Remote control.
Position-finders.
위치 제어. --과학기술용어시소러스
원격 제어. --과학기술용어시소러스
조립 로봇. --과학기술용어시소러스
힘 게이지. --과학기술용어시소러스
센서. --과학기술용어시소러스
Tactile sensors.
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