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http://dx.doi.org/10.5391/JKIIS.2010.20.3.394

Velocity Control Method of AGV for Heavy Material Transport  

Woo, Seung-Beom (부산대학교 로봇협동과정)
Jung, Kyung-Hoon (부산대학교 로봇협동과정)
Kim, Jung-Min (부산대학교 전자전기공학과)
Park, Jung-Je (부산대학교 전자전기공학과)
Kim, Sung-Shin (부산대학교 전자전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.3, 2010 , pp. 394-399 More about this Journal
Abstract
This paper presents to study the velocity control method of AGV for heavy material transport. Generally, in the industries, fork-type AGV using path tracking requires high stop-precision with performing operations for 20 hours. To obtain the high stop-precision of AGV for heavy material transport, AGV requires driving technic during low speed. Hence, we use encoder with keeping the speed of AGV and study the velocity control method to improve for the stop-precision of AGV. To experiment the proposed the velocity control method, we performed the experiments engaging the pallet located 4m in front of the AGV. In the experimental result, the maximum error of stop-precision was less than 18.64mm, and we verified that the proposed method is able to control stable.
Keywords
heavy material; AGV; driving control; velocity control; pallet;
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Times Cited By KSCI : 2  (Citation Analysis)
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