• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• 로봇학회논문지
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• 제8권2호
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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.

• 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.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.67-74
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• 2015

Two-wheeled driying mobild robots are precise controlled in terms of linear contol methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and heavy influence the overall driving performance. This study describes the nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the optimal control outperforms in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly conrtibutes to the driving performance and stability.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1037-1043
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• 2011

Two-wheeled balancing mobile robots are currently controlled in terms of linear control methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and greatly influence the overall driving performance. This paper addresses the SDRE nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the SDRE control outperforms LQR in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the SDRE control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly contributes to the driving performance and stability.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.235-240
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• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two 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 framework 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 simply 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.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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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.

• 한국지능시스템학회논문지
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• 제26권6호
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• pp.505-510
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• 2016

본 논문은 모바일 로봇의 SLAM(Simultaneous Localization and Mapping) 구현 시 사용되는 스캔매칭을 위한 회전오차에 강인한 대응점 탐색 기법을 제시한다. 많은 모바일 로봇의 연구에 차동구동방식의 구동부가 사용되는데, 이는 곡선 주행이나 제자리 회전을 위해 두 모터의 속력을 다르게 하거나, 반대 방향으로 제어하게 된다. 이러한 경우 직선 주행에 비해 비교적 바퀴의 미끄러짐 현상(Wheel Slip)을 심화시켜 모바일 로봇의 누적 위치 오차를 증가시키는 요인이 된다. 따라서 본 논문에서는 모바일 로봇의 회전 반경을 기반으로 최근접점을 추출하는 대응점 탐색 기법을 통해 스캔매칭 성능을 향상시키고자 한다. 제안된 방법의 검증을 위해 LRF(Laser Range Finder)를 이용해 실험을 진행하였으며, 기존 알고리즘에 주로 적용되는 유클리디안 최근접점 기반의 대응점 탐색 알고리즘과 비교한 결과, 제안된 대응점 탐색 기법이 보다 정확하게 대응점 집합을 추출하는 것을 확인했다.

• 전자공학회논문지
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• 제53권11호
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• pp.123-129
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• 2016

본 논문에서는 외바퀴 로봇의 균형 제어 성능을 향상할 목적으로 외란관측기를 사용한다. 외란관측기의 설계는 역 공칭 모델 설계와 Q필터 설계의 두 과정으로 구성된다. 외바퀴 로봇의 역 공칭 모델을 역 스틱 모델로 부터 유도하고 역 공칭 모델의 안정화를 위한 Q필터를 설계한다. 이 과정에서 Q31의 형태를 갖는 필터를 설계하고 Q필터 시정수의 영향에 관한 실험적인 검증 결과를 제시한다. 시정수는 외란 억제 대역폭을 결정하는 역할을 하지만 외란 억제와 센서 잡음 내성은 상보적인 특성을 갖고 있다. 그러므로 전체 시스템을 고려하여 적절한 시정수가 선택되어야만 한다. 이를 해결하기 위해 3개의 서로 다른 시정수가 외란관측기에 각각 사용되었을 때의 제어 성능을 비교하는 실험을 수행한다. 결과 분석을 바탕으로 한 바퀴 로봇의 균형 제어에 대한 외란관측기 설계에 적합한 시정수 변수의 설계 범위를 제안한다.