Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Study on Simscape based 6DOF Field Robot Simulation Model

Simscape 기반 6자유도 필드로봇 시뮬레이션 모델에 관한 연구

  • Choi, Seong Woong (Department of Construction Machinery Engineering, University of Ulsan) ;
  • Kwak, Kyung Sin (Department of Construction Machinery Engineering, University of Ulsan) ;
  • Le, Quang Hoan (Department of Mechanical Engineering, Hanbat National University) ;
  • Yang, Soon Yong (Department of Mechanical Engineering, University of Ulsan)
  • Received : 2022.02.03
  • Accepted : 2022.03.10
  • Published : 2022.06.01
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Abstract

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

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Acknowledgement

이 논문은 2022년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원을 받아 수행된 연구임. (P0012769, 2022년 산업혁신인재성장지원사업)

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