• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1161-1169
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• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• Journal of Korea Society of Industrial Information Systems
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• v.27 no.2
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• pp.53-59
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• 2022

In this paper, a mobile robot capable of remote control is designed in consideration of the user's various work environments. Specifically, a mobile remote work robot that moves in a predetermined direction and can perform a series of tasks in synchronization with the user's hand movements, and a control system and control method for controlling the robot were proposed. It was implemented using a robot hand and a wheel for movement to assist in tasks such as transporting dangerous goods or heavy goods. In order to evaluate the performance of the developed robot, the maximum weight that can be carried by the robot hand and the movable inclination of the robot were tested, and the test evaluation results satisfied most of the targeted design specifications.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.149-155
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• 2016

This paper presents a control method of a mecanum wheel-based omni-directional electric board using driver weight shift. Instead of a steering device such as a joystick or a remote controller, 3 degree-of-freedom driving command for translational and rotational motion of the omni-directional electric board is generated from position of center of gravity measured from weight distribution. The weight shifting motion is not only a driving command but also an intuitive motion to overcome inertial forces. The overall control structure is presented with experimental results to prove validity of the proposed method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.374-379
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• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.440-447
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• 2018

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.495-496
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• 2009

일반적으로 사용되고 있는 전동휠체어의 4바퀴 굴림 구조는 중증 장애인이나 노약자가 이동이 제한적이고, 전복 위험 등이 산재한다. 이러한 부분에서 오는 단점과 안전성의 문제를 해결하기 위해서 본 논문에서는 자유로운 동선이 가능하게 하고 센서를 적용하여 안전성을 확보하는데 목적을 두고 있다. 다양한 동선을 가지기 위해서 일반적인 바퀴가 아닌 "메카넘휠"을 장착하여 사용한다. 또 제어 방식에 있어서 핸들이라는 하나의 제어 장치 뿐만 아니라 심지어 게임기의 콘트롤러까지 다양한 범위를 수용하기 위해서 하드웨어 적인 확장이 용이한 환경을 사용한다.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.103-104
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• 2022

Cracks may occur in reinforced concrete (RC) structures due to various physical and chemical factors, and the growth of cracks causes deterioration of the structure's performance. It is important to prevent the expansion of cracks through periodic diagnosis of cracks in structures. In order to enable free crack exploration even in a narrow space, a construction robot using a Mecanum wheel that can move up, down, left and right and rotate in place was designed. High-quality crack images were periodically collected through the camera, and the image fragments stored during the exploration were combined into a single photo after the exploration was completed. The robot detected cracks with a width of 0.2 mm or more on the concrete probe surface with an accuracy of about 90% or more.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.946-948
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• 2022

주차 공간의 부족으로 인해 생기는 문제점들을 해결하기 위해 기존 기계식 주차타워가 아닌 새로운 주차 방식으로 자동 주차 로봇을 만들어보고자 한다. A^* 알고리즘과 QR코드, 각종 센서들을 통해 인공지능 프로그램을 구현하고, 회전반경을 줄여 공간의 효율성을 극대화할 수 있는 메카넘휠을 사용해 모바일 주차로봇을 만들어본다.