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Design and Control of Under-Actuated Tendon-Driven Robotic Finger and Hyper-Redundant Robot : 부족텐던구동 로봇 손가락과 하이퍼리던던트 로봇의 설계와 제어
DC Field | Value | Language |
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dc.contributor.advisor | 이동준 | - |
dc.contributor.author | 박준영 | - |
dc.date.accessioned | 2018-12-03T01:39:49Z | - |
dc.date.available | 2018-12-03T01:39:49Z | - |
dc.date.issued | 2018-08 | - |
dc.identifier.other | 000000152294 | - |
dc.identifier.uri | https://hdl.handle.net/10371/143751 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 8. 이동준. | - |
dc.description.abstract | We present design and control of under-actuated tendon-driven (UATD) robotic finger and hyper-redundant robot. We first introduce a recently-developed design optimization framework for the UATD robotic systems based on the stiffness decomposition. We apply this design framework to the UATD robotic finger and the UATD hyper-redundant robot with considering physical constraints for their implementation, after obtaining their motion data from motion capture and vision-based motion analysis. Actuated space motion controller is designed for generating the free motion along actuated space considering the deformation in the un-actuated space and the friction of tendons. Simulation and experiment are also performed to verify their optimized design and the developed controller with tension-controlled, bi-directional actuation module. | - |
dc.description.tableofcontents | 1 Introduction 1
2 System Modeling 5 2.1 Modeling of UATD Robotic Systems . . . . . . . . . . . . . . . . 5 2.2 Stiffness Decomposition of UATD Robotic Systems . . . . . . . . 8 3 Design of UATD Robotic Systems 13 3.1 Design Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1.1 Actuated Space Extraction . . . . . . . . . . . . . . . . . 14 3.1.2 Two-Step Optimization . . . . . . . . . . . . . . . . . . . 16 3.2 Design of UATD Robotic Finger . . . . . . . . . . . . . . . . . . 19 3.3 Design of UATD Hyper-Redundant Robot . . . . . . . . . . . . . 21 3.3.1 Vision-Based Motion Analysis . . . . . . . . . . . . . . . . 21 3.3.2 Application to UATD Hyper-Redundant Robot . . . . . . 24 4 Controller Design 28 4.1 Actuated Space Motion Controller . . . . . . . . . . . . . . . . . 28 4.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.2.1 UATD Robotic Finger . . . . . . . . . . . . . . . . . . . . 31 4.2.2 UATD Hyper-Redundant Robot . . . . . . . . . . . . . . 31 4.3 Tension Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 32 5 Experiments 35 5.1 System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 5.1.1 Actuation Module . . . . . . . . . . . . . . . . . . . . . . 35 5.1.2 UATD Robotic System Module . . . . . . . . . . . . . . . 38 5.2 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . 41 6 Conclusion and Future Work 46 6.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 6.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 | - |
dc.format | application/pdf | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject.ddc | 621 | - |
dc.title | Design and Control of Under-Actuated Tendon-Driven Robotic Finger and Hyper-Redundant Robot | - |
dc.title.alternative | 부족텐던구동 로봇 손가락과 하이퍼리던던트 로봇의 설계와 제어 | - |
dc.type | Thesis | - |
dc.description.degree | Master | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2018-08 | - |
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