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chapter_12

ํ˜‘๋™ ๋กœ๋ด‡์˜ ๊ฐœ๋…๊ณผ ํŠน์ง•chevron-rightIsaac Sim์—์„œ ํ˜‘๋™ ๋กœ๋ด‡ ์กฐ์ธํŠธ ์„ค์ •chevron-right์ธ๊ฐ„๊ณผ ๋กœ๋ด‡ ์ƒํ˜ธ์ž‘์šฉ(HRI) ๊ตฌํ˜„ ๊ธฐ์ดˆchevron-rightํž˜ ์„ผ์„œ(Force/Torque Sensor) ์‹œ๋ฎฌ๋ ˆ์ด์…˜chevron-rightROS2 ์•ก์…˜(Action)์œผ๋กœ ํ˜‘๋™ ์ž‘์—… ์˜ค์ผ€์ŠคํŠธ๋ ˆ์ด์…˜chevron-right๊ฒฝ๋กœ ์ž๋™์ƒ์„ฑ(Automatic Path Generation) ๊ธฐ๋ฒ•chevron-rightIsaac Sim ์ด๋ฒคํŠธ ํŠธ๋ฆฌ๊ฑฐ(Event Trigger) ๊ธฐ๋Šฅchevron-right์‚ฌ๋žŒ-๋กœ๋ด‡ ์ถฉ๋Œ ํšŒํ”ผ(Coexistence) ์„ค๊ณ„chevron-right์ž‘์—… ํšจ์œจ ๋ถ„์„: ์‚ฌ์ดํด ํƒ€์ž„(Cycle Time) ์ธก์ •chevron-rightํ™•์žฅ ๊ฐ€๋Šฅ ์‹œ๋‚˜๋ฆฌ์˜ค: ๋‹ค์ˆ˜ Co-bot ๋™์‹œ ์ž‘์—…chevron-right
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