모바일 경계로봇의 시뮬레이션 기반 설계

Simulation based Design of a Mobile Surveillance Robot

  • 황기상 (충남대학교 기계.기계설계.메카트로닉스 공학과 지능로봇시스템 대학원) ;
  • 박규진 ;
  • 김도현 ;
  • 김성수 (충남대학교 기계.기계설계.메카트로닉스 공학과 지능로봇시스템) ;
  • 박성호 ((주)도담시스템스 무인화 개발센터 총괄)
  • 발행 : 2007.05.30

초록

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

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