• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.4-105
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• 2002

The development of a teleoperated mobile robot, Kaerot/m2, has been described. Kaerot/m2 consists of three subsystems - a 4 wheeled mechanism with the dual reconfigurable crawler arms, a thermal image monitoring system , and an extendable long reach mast. The mechanical design, control system of Kaerot/m2 in terms of remote inspection operation at a high radiation level of the Calandria face environment has been shown. Kaerot/m2 is capable of detecting the degraded locations of the Calandria face in a remote manner.

• 전자공학회논문지 IE
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• 제46권4호
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• pp.73-77
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• 2009

본 논문에서는 모바일 로봇의 경로 주총 제어에 관해 다룬다. 설계된 제어기는 운동학 제어기와 동역학 제어기로 구성된다. 운동학 제어기는 2개의 게인을 가짐에 따라 기존의 3개의 게인을 가지는 제어기에 비해 게인 설정에 필요한 시간을 줄일 수 있다. 동역학 제어기는 마찰력과 외란 보상을 고려하여 다양한 환경에서 경로 추종 성능을 개선시킬 수 있다. 모의실험 결과를 통해 제안된 제어기의 안정된 성능을 확인할 수 있다.

• 한국소음진동공학회논문집
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• 제12권1호
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• pp.29-35
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• 2002

A simulation program for vehicle dynamic analysis was developed. The Cartesisn coordinate system was used for translational motion and the Euler angle system was used for rotational motion. A three dimensional multi-wheeled vehicle model and equations of motion were derived. Also static equilibrium analysis was added for initial vehicle condition setting. The program user can describe the exact characteristics of suspension spring force and damping force in the user subroutine. A wheel-ground contact model which represents geometrical effect was developed. Two cases of simulation for 16 D.O.F. vehicle model were conducted to validate the developed program by comparing the simulation results with the experimental data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.330-330
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• 2000

In this paper, as an entertainment robot the implementation of boxing robot system is presented for mechatronics education. In order for students to learn robot as a mechatronics system, boxing robot is a good model. The boxing robot consists of three parts: two link arms for punching, controller for actuating wheeled mobile robot, infrared rays sensors for the detection of he other robot and ring. The strategic algorithm for playing boxing is presented as wel as simple game rules.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• 한국정밀공학회지
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• 제13권11호
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• pp.152-162
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• 1996

A four-legged Walking Machine can move on the plain terrain with mobility and stability and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra time to cross those obstacles and the stability should be considered during motion. The main objective is the study a Quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a Quadruped can move on any mixed rough terrain as 4-legged terrestrial vertebrates move. Each leg of a Quadruped has a limited walk space called a walking volume and this is very important to deter- mine the crossing capability in a static analysis. A Quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain information from scanner and finally can move with mobility and stability.

• 한국정밀공학회지
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• 제10권4호
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• pp.190-199
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• 1993

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.

• 한국기계가공학회지
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• 제21권9호
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• pp.71-77
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• 2022

In times of war or emergencies, weapon systems, such as radars, must receive stable power. This can be achieved using improved onboard portable power systems made of steel containers. However, a breakdown can occur in the event of random vibration during transportation via a vehicle or train. Electrical-power shortages or restrictions pose a significant threat to security. In this study, Composite Wheeled Vehicle(CWV) data and rail cargo data with Acceleration Spectral Density(ASD), specified in MIL-STD-810H METHOD 514.8, were interpreted as input data of the three-axis random vibration method using ANSYS 19.2. Modal analysis was performed up to 500 Hz, and deformations in modes 1 to 117 were calculated to utilize all ASD data. The maximum equivalent stress in the three-axis direction was obtained using a random vibration analysis. Similarly, the margin of safety was calculated using the derived equivalent stress and material properties. Overall, the analysis verified that the portable container designed for the power supply system satisfied the required vibration demands.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.