• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1719_1720
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• 2009

Wheeled mobile robot has different mobility and steerability which determined by type of wheel and it's arrangement. Generally wheeled mobile robot's dynamics are nonlinear and various control methods have studied to control the mobile robot efficiently. In this paper, a T-S fuzzy modeling of a 2-wheeled mobile robot is mand a stable LMI-based state feedback fuzzy controller is designed and applied to the position control of the mobile robot for the reference trajectory following. Also, the verification of the designed controller is done by computer simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2693-2695
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• 2005

In this paper, we developed a more efficient system for the remote control and monitoring of a wheeled mobile robot using internet without spatial limitation. The hardware configuration of the remote control system for a wheeled mobile robot includes a client PC executed on the remote site, a embedded web-server and a mobile robot with many measuring equipments. The communication between a client PC and a embedded web-server is implemented through internet. And the Bluetooth module is used for connecting a embedded web-server and a mobile robot. A GUI program has been developed by using JavaScript in order to easily control a mobile robot on a client PC.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1523-1526
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• 1996

This paper presents a new method of force reflection in the teleoperated mobile robot control: artificial force feedback. Generally it is well known that force feedback from slave to master increases the reality with which the operator interacts with the environment. In the applications of the teleoperated mobile robot, however, such a force feedback control algorithm has rarely appeared in the literature because the contact force between the environment and the mobile robot is not available. In this paper, a method of artificially generating the feedback force for the teleoperated mobile robot is presented in order to improve the task performance. The computed artificial force feeds into the new designed joystick so as to increase the telepresence of the environment. Through simulations, we confirm the validity and effectiveness of our algorithm.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.343-352
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• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.210-216
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• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• Journal of Computational Design and Engineering
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• 제1권4호
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• pp.243-255
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• 2014

The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.711-719
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• 2009

This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.449-452
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• 1996

In this paper, a robust.adaptive control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectory is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, tec., are shown through experiments as well as computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.473-478
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• 1992

This paper aims to investigate the navigation control of a mobile robot in a confined environment. Steering angle becomes control variable which is computed from the fuzzy control rules. The identification method proposed in this paper presents the fuzzy control rules obtained through modelling of. the driving actions of human operator. The feasibility of the proposed method is evaluated through the application of the identified fuzzy controls rules to the navigation control of a mobile robot which follows the center of a corridor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.261-262
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• 2007

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.