• 한국해양공학회지
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• 제11권1호
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• pp.84-95
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• 1997

This paper presents a new approach to the design speed and azimuth control of a mobile robot with drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the frmework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simple the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.72-75
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• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.438-443
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• 2003

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

• 한국지능시스템학회논문지
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• 제26권1호
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• pp.23-29
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• 2016

본 논문에서는 두 바퀴 구동 이동로봇(이륜이동로봇)의 균형제어에 대해 논한다. 이륜이동로봇은 두 바퀴로 구동되며 균형을 유지하면서 목표점으로 이동하는 이동로봇이다. 선형제어기인 PD제어기로 균형을 유지할 수 있지만 강건한 제어를 위해서 비선형제어인 시간지연제어기를 사용하였다. PD제어기와 시간지연 제어기의 성능을 비교하기 위해 이륜이동로봇에 적용하여 실험하였다. 로봇의 각도를 위해 시간지연제어방식, 위치제어를 위한 시간지연제어방식, 그리고 각도와 위치 제어를 위한 시간지연제어 방식 등 3가지로 나누어서 실험을 시행하였다. 제어기의 이득값을 달리하며 실험을 통해 시스템의 성능을 평가하였다.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• 대한조선학회 특별논문집
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• 대한조선학회 2008년도 특별논문집
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• pp.136-143
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• 2008

This paper presents the application of a robot which aims at grinding automatically welding-bead remained in the removal job of working pieces for shipbuilding. In specific, the investigation on this application is composed of two parts; one topic is on the development of a robot platform vertically movable on a steel plate of hull, while the other topic is of the development of a grinding tool mechanism in order to remove welding-beads by using a diamond wheel installed on a servo cylinder (which can result in high working pressure on the grinding wheel). Besides, the development of a vision system for tracking welding-beads as well as recognizing welding surfaces is added for the convenience of this robot application to the removal of welding-beads remained in the working pieces for shipbuilding.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.787-792
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• 1991

This paper proposes a steering control algorithm for non-holonomic mobile robots. The steering control algorithm is essential to navigate autonomous vehicles which employ comination of the dead reckoning and absolute sensor system such as a machine vison for detecting landmarks in order to estimate the current location of the mobile robot. The proposed algorithm is based on the minimum time BANG-BANG controller and curvature-continuity curve design method. In the BANG-BANG control scheme we introduce velocity/acceleration limiter to avoid any slippage of driving wheels. The proposed scheme is robot-independent and hence can be applied to various kinds of mobile robot or vehicles. To show the effectness of the proposed control algorithm, a series of computer simulations were conducted for two-wheel driven mobile robot.

• 전자공학회논문지S
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• 제34S권11호
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• pp.63-72
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• 1997

The design and implementation of a drive wheel position, orientation, and velocity feedback control algorithm for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Drive wheel position, orientation, and velocity feedback control directly minimize the most siginificant error by coordinating the motion of the two drive wheels. The drive wheel position, orientation, and velocity feedback control algorithm is analyzed and experiments are conducted to evaluate its performance. The experimental results are shown that drive wheel position, orientation and velocity feedback control algorithm yields substantially smaller position and orientation errors than those of conventional methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.137.4-137
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• 2001

Omni-directional mobile robots have been employed popularly in several application areas. However, the optimal design has not been considered yet. This paper introduces an optimal design methodology for omni-directional mobile robots. Optimal design parameters such as the offset distance and the wheel radius are identified with respect to isotropy. Furthermore, the force transmission ratio and actuator sizing problem are treated. Conclusivel, three cases are compared minimum actuation, two active caster wheel, and three active caster wheel, we claim that the redundantly actuated mobile robot with three active caster wheel has the best performance.

• 융합신호처리학회논문지
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• 제23권1호
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• pp.21-27
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• 2022

전통적인 자동차 또는 전통적인 두 바퀴형 차동 구동 로봇은 기구적인 구조 때문에 이동 동작에 제한이 있을 수밖에 없다. 자동차 산업에서 내연기관 자동차가 전기차로 빠르게 전환되면서 자동차에 로봇 공학 기술의 적용이 활발하게 모색되고 있다. 로봇 공학 분야에서는 이동체의 자세를 변화시키지 않고도 다양한 방향으로 이동할 수 있는 전방향 이동로봇에 대한 연구가 활발히 진행되어 왔으며 주목할 만한 연구 결과들도 많다. 하지만 대부분의 연구에서 이와 같은 전방향 이동을 구현하기 위해서는 메카넘휠 등과 같은 특수한 형태의 바퀴를 사용해야 하는 제한점이 있다. 우리는 전방향 이동을 위한 특수한 바퀴를 사용하지 않고도 전방향성을 구현할 수 있는 두 바퀴를 갖는 모듈형 로봇을 제안하였었다. 본 논문에서는 모듈형 로봇 2대를 전후로 결합하여 네 바퀴를 갖는 전방향 이동로봇을 새로이 제안하였다. 제안된 로봇은 차동 구동 방식의 이동로봇으로 전자브레이크를 사용하여 바퀴부와 로봇 몸체부를 선택적으로 분리, 결합하는 방식을 사용하며 두 개의 절대치형 엔코더와 네 개의 증분형 엔코더를 사용하여 로봇 바퀴부의 위치와 로봇 바퀴의 속도를 제어한다. 제안된 로봇은 일반적인 타이어 바퀴를 채택하고도 전방향 이동이 가능하다. 로봇을 실 제작하여 대각선 궤적과 정사각형 궤적에서의 주행 실험을 통하여 제안된 로봇의 유용성과 안정성을 검증하였다.