公开(公告)号：KR101323217B1

公开(公告)日：2013-10-30

申请号：KR1020120056473

申请日：2012-05-29

Applicant: 한국과학기술연구원

Inventor： 김성균 ,  조준희 ,  오용환

IPC: B25J9/16 ,  B25J15/08 ,  B25J19/00

Abstract: PURPOSE: A system and a method for controlling the clamping force of robotic hands are provided to be applied to control joints in a various method by using a torque servo, a current servo, a speed servo, and a position servo and to control the clamping of the robotic hands with the predetermined clamping force in which users desire. CONSTITUTION: A method for controlling the clamping force of robotic hands comprises the following steps: generating an initial clamping control instruction according to sizes of the inputted clamping force and clamping objects in the robotic hand; measuring the size of the clamping force and delivering the same to a control unit; extracting the size of the measured clamping force relative to the contact point direction; comparing the size of inputted target clamping force and the measured clamping force relative to the contact point direction and calculating the error of the size of the clamping force; calculating a joint torque input value to drive each joint of the robotic hand based on the calculated power control parameter; generating a clamping control instruction signal corresponding to the joint torque input value and delivering the same to a driving unit; and controlling the joint by generating the driving force driving each joint of the robotic hand in the driving unit. [Reference numerals] (110) Robot hand; (120) Driving unit; (130) Joint position sensor; (140) Grapping force measuring sensor; (150) Control unit; (160) User command input unit

Abstract translation: 目的：通过使用扭矩伺服，电流伺服，速度伺服和位置伺服，以各种方式将控制接头用于控制机器手的夹紧力的系统和方法，并控制夹紧 的机器人手具有用户期望的预定夹紧力。 构成：用于控制机器人手的夹紧力的方法包括以下步骤：根据输入的夹紧力和机器人手中的夹持物体的尺寸产生初始夹紧控制指令; 测量夹紧力的大小并将其传送到控制单元; 提取所测量的夹紧力相对于接触点方向的尺寸; 比较输入的目标夹紧力的大小和相对于接触点方向的测量夹紧力，并计算夹紧力的大小误差; 基于所计算的功率控制参数计算关节转矩输入值以驱动所述机器人手的每个关节; 产生与所述关节扭矩输入值相对应的夹紧控制指令信号并将其传送到驱动单元; 以及通过产生驱动所述机器人手的每个关节的驱动力来控制所述关节。 （附图标记）（110）机器人手; （120）驱动单元; （130）接头位置传感器; （140）卷取力测量传感器; （150）控制单元; （160）用户命令输入单元

公开(公告)号：KR102216640B1

公开(公告)日：2021-02-17

申请号：KR1020180002612

申请日：2018-01-09

Applicant: 주식회사 엘지화학 ,  한국과학기술연구원

Inventor： 박창홍 ,  박세준 ,  김창훈 ,  조아영 ,  조준희 ,  이성호

IPC: D01F9/22 ,  C08L33/20 ,  C08F220/44 ,  C08F220/18

Abstract: 본발명은아크릴로니트릴계단량체및 하기화학식 1로표시되는 (메타)아크릴레이트계공단량체를 82:18 내지 97:3의중량비로포함하는단량체혼합물을중합하여폴리아크릴로니트릴(PAN)계공중합체를제조하는단계(S1); 상기폴리아크릴로니트릴계공중합체를섬유화하는단계(S2); 및섬유화된폴리아크릴로니트릴계공중합체를산화안정화시키는단계(S3);를포함하는폴리아크릴로니트릴계섬유의제조방법및 이에이용되는폴리아크릴로니트릴계공중합체에관한것이다.