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MOTION CONTROL SYSTEM OF A ROBOT FOR GRIPPING AN OBJECT WITH BOTH ROBOT ARMS AND A CONTROL METHOD THEREOF, CAPABLE OF MAINTAINING FORCE TO GRIP AN OBJECT WITH STABLY ATTACHED BOTH ROBOT ARMS
MOTION CONTROL SYSTEM OF A ROBOT FOR GRIPPING AN OBJECT WITH BOTH ROBOT ARMS AND A CONTROL METHOD THEREOF, CAPABLE OF MAINTAINING FORCE TO GRIP AN OBJECT WITH STABLY ATTACHED BOTH ROBOT ARMS
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机译：带有两个手臂的物体的机器人的运动控制系统及其控制方法，能够保持力以稳定地固定两个机器人的物体
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摘要
PURPOSE: A motion control system of a robot for gripping an object with both robot arms and a control method thereof are provided to stably grip an object even if external force is applied while gripping the object.;CONSTITUTION: A motion control system of a robot comprises a force setting module(3) and a virtual force based motion controller(6). The force setting module sets target force for gripping an object with robot arms. The virtual force-based motion controller applies virtual force values to a robot to control robot motion. The virtual force follows the target force.;COPYRIGHT KIPO 2012
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