• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• 전기학회논문지
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• 제65권2호
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• pp.335-341
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• 2016

In general, a yawing motion concept is used for the lateral control of one wheel robot where the gimbal system is located horizontally. In this paper, another concept of the vertically located gimbal system is presented for the same purpose. Although the vertical concept undergoes an instability more easily than the horizontal one, the pitching motion of the gyroscopic effect is considered. Firstly, the trade-off relation between two balancing concepts are investigated by comparing the gyroscopic mechanism. Secondly, the dynamic model for the problem of the proposed concept is derived using the oscillatory inverted stick model. Thirdly, the stability of the model is analyzed using the phase trajectory method. Finally, the control performance of the system by a vibration controller is simulated.

• Structural Monitoring and Maintenance
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• 제9권1호
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• pp.43-57
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• 2022

One of the instances which demand structural engineer's greatest attention and upgradation is the changing live load requirement in bridge design code. The challenge increases in developing countries as the pace of infrastructural growth is being catered by the respective country codes with bigger and heavier vehicles to be considered in the design. This paper presents the case study of India where Indian Roads Congress (IRC) codes in its revised version from 2014 to 2017 introduced massive Special vehicle (SV) around 40 m long and weighing 3850 kN to be considered in the design of road bridges. The code does not specify the minimum distance between successive special vehicles unlike other loading classes and hence the consequences of it form the motivation for this study. The effect of SV in comparison with Class 70R, Class AA, Class A, and Class B loading is studied based on the maximum bending moment with moving load applied in Autodesk Robot Structural Analysis. The spans considered in the analysis varied from 10 m to 1991 m corresponding to the span of Akashi Kaikyo Bridge (longest bridge span in the world). A total of 182 analyses for 7 types of vehicles (class B, class A, class 70R tracked, class 70R wheeled, class AA tracked, AA wheeled, and Special vehicle) on 26 different span lengths is carried out. The span corresponding to other vehicles which would equal the bending moment of a single SV is presented along with a comparison relative to Standard Uniformly Distributed Load. Further, the results are presented by introducing a new parameter named Intensity Factor which is proven to relate the effect of axle spacing of vehicle on the normalized bending moment developed.

• 대한기계학회논문집A
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• 제40권8호
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• pp.703-710
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• 2016

로보틱스 연구에서, 모바일 로봇의 모션 제어를 위해서는 로봇의 실제 위치를 정확히 추정하는 것이 중요하다. 이를 위해 본 연구에서는, 두 개의 서로 다른 센서 데이터를 칼만필터로 융합하여 로봇의 위치인식을 개선하는 연구를 진행한다. 칼만필터로 융합한 두 개의 센서 측정값은 카메라 영상으로부터 측정된 모바일 로봇의 전역(global) 위치 좌표(x, y)값과 모바일 로봇 바퀴에 부착된 엔코더로부터 측정된 로봇의 직선 및 각속도 값이다. 다음으로 칼만필터로부터 계산된 모바일 로봇의 위치값을 모바일 로봇의 자세 안정화에 피드백하여 모션 제어의 퍼포먼스를 향상시켰다. 최종적으로 논문에서 제안한 센서융합 위치인식 기술과 모션제어기를 실제 로봇에 적용하여 실험적으로 검증하였다. 또한 모션제어에 단일 센서를 피드백으로 사용한 경우와 칼만필터로 융합한 위치 값을 사용한 경우를 비교하므로 칼만필터 기반 센서 융합 기술을 사용한 경우의 퍼포먼스 향상을 확인하였다.