• 제목/요약/키워드: WMRs

검색결과 8건 처리시간 0.024초

바퀴형 이동로봇의 기구학 (Generalized Kinematics Modeling of Wheeled Mobile Robots)

  • 신동헌;박경훈
    • 한국정밀공학회지
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    • 제19권5호
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    • pp.118-125
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    • 2002
  • The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

강섬유보강숏크리트의 역학적 특성 및 경제성 평가 (Mechanical Properties and Economic Evaluation of Steel Fiber Reinforced Shotcrete)

  • 손영현;박우진
    • 한국안전학회지
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    • 제13권2호
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    • pp.122-129
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    • 1998
  • A field experiment was performed to analyze the properties of SFRS(steel fiber reinforced shotcrete) against WMRS(wire mesh reinforced shotcrete) with some experimental parameters. The parameters were reinforcing methods(steel fiber and wire mesh), steel fiber contents(0.5%, 0.75%, and 1.0%), silica fume contents(0.0% and 10.0%), spraying thicknesses of layer(10㎝, 8㎝, and 6㎝), and spraying parts(side wall, shoulder, and crown). According to the analyzed results, the mechanical properties of SFRS such as compressive strength, flexural strength, and load-carrying capacity after cracks were improved. And the economic evaluation was also performed on the basis of the required thickness of the layer and other researcher's results for rebound ratios. From the results of this tests, it is found that the traditional WMRS may be substituted by the SFRS in the viewpoint of the economic evaluation as well as the mechanical properties. In additions, the silica fume, even if it is very expensive, can significantly improve the mechanical properties of the shotcrete regardless of mixing with or without the steel fiber.

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구륜 이동 로보트의 경로 추적을 위한 Fuzzy-Genetic Controller 설계 (Design fuzzy-genetic controller for path tracking in wheeled-mobile robot)

  • 김상원;김성희;박종국
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.512-515
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    • 1997
  • In this paper the fuzzy-genetic controller for path-tracking of WMRs is proposed. Fuzzy controller is implemented to adaptive adjust the crossover rate and mutation rate, and genetic algorithm is implemented to adaptive adjust the control gain during the optimization. The computer simulation shows that the proposed fuzzy-genetic controller is effective.

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모델 알고리즘 제어를 이용한 이동 로봇의 경로 추적 제어 (Path Following Control For Mobile Robots Using Model Algorithm Control)

  • 장원량;정길도
    • 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.

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모델 예측 추적을 이용한 이동 로봇의 경로 추적 (Model Predictive Tracking Control of Wheeled Mobile Robots)

  • 고유;정길도
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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    • pp.263-264
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    • 2007
  • This paper presents a model predictive controller for tracking control of the wheeled mobile robots (WMRs) subject to nonholonomic constraint. The input-output feedback-linearization method and the mode transformation are used. The performance of the proposed control algorithm is verified via computer simulation. It is shown that the control strategy is feasible.

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구동토크의 제약을 갖는 구륜이동로봇의 모델링과 경로추적 (Modeling and Path-Tracking of Wheeled-Mobile Robots having the Limited Drive-Torques)

  • 김종수;문종우
    • 대한전기학회논문지:시스템및제어부문D
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    • 제52권8호
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    • pp.482-491
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    • 2003
  • In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

구동토크의 제약을 갖는 차동 구륜이동로봇의 동역학 모델링과 경로추적 (Dynamic Modeling and Path-tracking of Differential Drive Wheeled-Mobile Robots)

  • 문종우
    • 전기학회논문지P
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    • 제51권1호
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    • pp.45-51
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    • 2002
  • In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

Near Minimum-Time Trajectory Planning for Wheeled Mobile Robots with Piecewise Constant Voltages

  • Park, Jong-Suk;Kim, Munsang;Kim, Byung-Kook
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.30.6-30
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    • 2001
  • We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

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