Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Research on the Design and Development of a Robot System with Multi-fingered Hands

다지 로봇 시스템의 설계 및 개발에 관한 연구

  • Lee, Ho-Youn (Electric Engineering Graduate School in Hongik Univ.) ;
  • Lee, Jong-Soo (Electric Engineering Graduate School in Hongik Univ.)
  • 이호연 (홍익대학교 대학원 전기정보제어공학과) ;
  • 이종수 (홍익대학교 대학원 전기정보제어공학과)
  • Published : 2002.11.30
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Abstract

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

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