한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제10권4호
- /
- Pages.190-199
- /
- 1993
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
3축 이동로보트의 동역할을 고려한 실시간 제어
Real time control of a mobile robot considering dynamics
초록
In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.
키워드