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This paper suggests an efficient RRT* path planning for hyper-redundant inpipe robot. We solve the path planning problem for the inpipe robot in two-dimensional pipeline where the robot has in total 12 degree-of-freedom, 9 pitching angles and the pose of the reference module of the robot. Such a robot inevitably suffers from a narrow passage problem when the robot passes through a miter, a T-branch...
The miniature six-DOF force/torque sensor with CAN interface has been developed for the finger-tip of the dexterous robot hand. We designed the frame of sensor by FEM Analysis. The sensor consists of a transducer and a signal conditioning circuit. It is embedded in finger-tip sensor. We tested the performance of sensors by using a robot hand and a load cell.
This paper presents a motion planning with position based impedance controller for our newly designed robotic hand. We explained the position based impedance control scheme presents equations. Also the inverse kinematics method is presented using pseudo-inverse. Finally, we proposed a motion planning to open a bottle cap and simulation result is shown to verify the effectiveness and robustness.
Our goal is to design a dexterous robot hand driven by motor. For this, we studied a human hand analysis and constructed a DH model. We verified it by using Visual tracker. Also, we calculated workspace, manipulability, Opposition Angle of a human hand DH model and made the Kapandji test. By using this human hand analysis data, we designed new robot hand and analyzed the newly designed robot hand...
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