Earticle

초록

영어

In this paper, we describe the control of safely grasping various objects using a three-finger gripper. An experimental device was constructed for the characteristic experiment of a three-finger gripper, a control system for closed-loop control was constructed, and experiments were conducted to obtain proportional gain and differential gain experimentally. As a result of the experiment, the proportional gain of the three-finger gripper was Kp=0.25, and the differential gain was Kd=5.0. As a result of the special experiment, the rising time was within 0.31 seconds, the steady-state error was within ±0.02 N, and the overshoot was within 0.03 N. By applying this to control the gripping force, it was possible to safely grip various objects. Therefore, we believe that applying the control method of this study to a three-finger gripper will enable it to grasp various objects safely.

목차

Abstract
1. 서론
2. 세 손가락 그리퍼 제어
2.1 세 손가락 그리퍼의 구성
2.2 세 손가락 그리퍼의 힘제어 시스템
2.3 세 손가락 그리퍼의 힘제어 특성실험
2.4 외란 제어 특성실험
2.5 그리퍼의 잡는 제어 특성실험
3. 결론
후기
References

키워드

저자

• 하정민 [ Jeong-Min Ha | Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University ]
• 김진 [ Jin Kim | Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University ]
• 조민주 [ Min-Ju Cho | Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University ]
• 김갑순 [ Gab-Soon Kim | Member, Professor, Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  한국기계항공기술학회지(구 한국기계기술학회지) [Journal of the Korean Society of Mechanical and Aviation Technology ]

• 간기

  격월간

• pISSN

  1229-604X

• eISSN

  2508-3805

• 수록기간

  1999~2026

• 등재여부

  KCI 등재

• 십진분류

  KDC 550 DDC 620