• Title/Summary/Keyword: Wheel mobile robot

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Design of an Omni-directional mobile Robot with 3 Caster Wheels

  • Kim, Wheekuk;Kim, Do-Hyung;Yi, Byung-Ju;Yang, Sung-Il;You, Bum-Jae
    • Transactions on Control, Automation and Systems Engineering
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    • v.3 no.4
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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.

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Development of Mobile Robot for CAS inspection of Oil Tanker (유조선의 상태평가계획 검사를 위한 이동로봇의 개발)

  • Lee, Seung-Heui;Son, Chang-Woo;Eum, Yong-Jae;Lee, Min-Cheol
    • The Journal of Korea Robotics Society
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    • v.2 no.2
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    • pp.161-167
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    • 2007
  • It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.

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Complete Identification of Isotropic Configurations of a Caster Wheeled Mobile Robot with Nonredundant/Redundant Actuation

  • Kim Sung-Bok;Moon Byung-Kwon
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.486-494
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    • 2006
  • In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

GPS and DR Navigation System for Unmanned 9round Vehicle (무인지상차량을 위한 GPS와 DR을 이용한 항법시스템)

  • 박대선;박정훈;지규인
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.75-75
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    • 2000
  • Recently, number of navigation system using GPS and other complementary sensors has been developed to offer high-position accuracy. In this paper, an integration of GPS and Dead-Reckoning, which consists of a fiber optical gyroscope and two high-precision wheel-motor encoders for a unmanned navigation system, is presented. The main objective of this integrated GPS/DR unmanned navigation system is to provide accurate position and heading navigation data continuously for autonomous mobile robot. We propose a method for increasing the accuracy of the estimated position of the mobile robot by its DR sensors, high-precision wheel-motor encoders and a fiber optical gyroscope. We used Kalman filter theory to combine GPS and DR measurements. The performance of GPS/DR navigation system is evaluated.

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Wheel &Track Hybrid Mobile Robot Platform and Mechanism for Optimal Navigation in Urban Terrain (도심지형 최적주행을 위한 휠.무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘)

  • Kim, Yoon-Gu;Kim, Jin-Wook;Kwak, Jeong-Hwan;Hong, Dae-Han;Lee, Ki-Dong;An, Jin-Ung
    • The Journal of Korea Robotics Society
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    • v.5 no.3
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    • pp.270-277
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    • 2010
  • Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

Calibration of Mobile Robot with Single Wheel Powered Caster (단일 바퀴 구동 캐스터 기반 모바일 로봇의 캘리브레이션)

  • Kim, Hyoung Cheol;Park, Suhan;Park, Jaeheung
    • The Journal of Korea Robotics Society
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    • v.17 no.2
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    • pp.183-190
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    • 2022
  • Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

Fuzzy PD+I Control Method for Two-wheel Balancing Mobile Robot (퍼지 PD+I 제어 방식을 적용한 Two-wheel Balancing Mobile Robot)

  • Eom, Ki-Hwan;Lee, Kyu-Yun;Lee, Hyun-Kwan;Kim, Joo-Woong
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.45 no.1
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    • pp.1-8
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    • 2008
  • A two-wheel balancing vehicle, which helps people moving freely and fast, and is applied from inverted pendulum system, has been widely researched and developed, and some products are came into a market in actuality. Until now, the two-wheel balancing vehicles developed have chosen the general PID control method. In this paper, we propose a new control method to improve a control capacity for a two-wheeled balancing vehicle for human transportation. The proposed method is the fuzzy PD+I control that is one of the improved PID control, and it contains a 2input-1output fuzzy system. This fuzzy system processes signals from proportional and derivative controller, and the fuzzy output signal generates the final output by summing up integral signal. The non-linearity of the fuzzy system makes an optimal output control signal by changing weight of the proportional signal and the derivative signal in process of time. We have simulated the fuzzy PD+I control system and experimented by implementing the two-wheel balancing mobile robot to verify the advantages of the proposed fuzzy PD+I control method in comparison with general PID control. As the results of simulation and experimentation, the proposed fuzzy PD+I control method has better control performance than general PID in this system and improves it.

Path control of a mobile robot 'KMR-2' using odometer system (거리계를 이용한 이동로보트 'KMR-2'의 경로주행제어에 관한 연구)

  • 조형석;이대업;이종원
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.142-147
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    • 1988
  • Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.

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Unified-type Design and Structural Analysis for Mecanum Wheel Performance Improvement (메카넘휠 성능개선을 위한 일체형 설계 및 구조해석)

  • Jeong, Jeaung;Kwon, Soon-Jae;Chu, Baeksuk;Park, Junyoung
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.13 no.2
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    • pp.117-123
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    • 2014
  • In order to provide a mobile robot with omnidirectionality, various types of omnidirectional wheels have been developed. This paper deals with an improved design and structural analysis of a Mecanum wheel, which is the type of omnidirectional wheels most commonly used in industrial fields. A geometric formulation for manufacturingthe Mecanum wheel is presented and two types of Mecanum wheels are designed and fabricated in this research. While conventional assembled-type Mecanum wheels have a complicated structure and the high possibility of mutual interference between sub-components, a unified type of Mecanum wheel reduces the number of sub-components and increases the degree of structural rigidity. The stress and strain properties of the two designs are compared to confirm the quantitative improvement of the new design by a commercial structural analysis tool. The analysis results show that the unified type of Mecanum wheel has properties superior to the assembled type of Mecanum wheel in terms of its ability to reduce interference.

Control and Calibration for Robot Navigation based on Light's Panel Landmark (천장 전등패널 기반 로봇의 주행오차 보정과 제어)

  • Jin, Tae-Seok
    • Journal of the Korean Society of Industry Convergence
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    • v.20 no.2
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    • pp.89-95
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    • 2017
  • In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.