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국내 최대 정보 기계·건설 공학연구정보센터
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  • 국내학술대회

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    국내학술대회 제목 게시판 내용
    제목(국문) 가변무게중심을 가진 모바일 로봇의 주행특성 해석
    제목(영문) Dynamic Analysis of wheeled mobile robot with variable center of gravity
    저자 전승우 (S. W. Jeon ,과학기술연합대학원대학교 미래첨단교통시스템공학과 석박사통합과정 ) ▷공저자네트워크등록하기
    정우태 (W. T. Jung ,한국철도기술연구원 ) ▷공저자 네트워크 보기
    박덕신 (Duck-Shin Park ,한국철도기술연구원 철도환경연구실 ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    Skid steering system which is widely used to the mobile robot platform changes direction by differential speed between wheels. The mobile platform is able to move and turn in the limited space without using steering devices. However, the system has to overcome nonholonomic constraint in controlling the position of the platform precisely. Variable studies have been carried out such as the robust motion control algorithm of nonlinearity and uncertainty by considering dynamic characteristics of skid-steered platform. Meanwhile, studies about the motion control of skid-steered mobile robot have not been considered by working devices mounted on the platform. In case of mass transformation occurred by the mechanism performing tasks and the platform moved simultaneously, the center of mass(COM) of the robots can be moved and the trajectory error of the platform would be increased. Therefore, the trajectory of moving platform has been calculated with determining ICR in variable COM of the overall platform to examine possibility of controlling the motion. 

    keyword Variable Center of Gravity (가변 무게중심), Instantaneous Center of Rotation(순간회전중심), skid steer(스키드 조향), Wheeled mobile platform(차륜형 이동플랫폼).
    저널명 대한기계학회 추계학술대회 ▷관련저널보기
    VOL 13
    PAGE 3066-3070
    발표년도 2013
    국문File 국문다운로드
    영문File
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