Proceedings of the Korean Nuclear Society Conference (한국원자력학회:학술대회논문집)
- 1996.11a
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- Pages.165-170
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- 1996
Motion Control of a Mobile Robot for Nuclear Facility
- Lee, Jae-Kyung (Korea Atomic Energy Research Institute) ;
- Kim, Seung-Ho (Korea Atomic Energy Research Institute) ;
- Kim, Kiho (Korea Atomic Energy Research Institute) ;
- Kim, Byung-Soo (Korea Atomic Energy Research Institute) ;
- Kim, Min-Suk (Korea Atomic Energy Research Institute)
- Published : 1996.11.01
Abstract
In order that a mobile robot executes the real tasks such as inspection and maintenance in nuclear facility efficiently, the coordination between the mobile platform and the manipulator is essentially required In this paper, a new motion control method for a mobile robot to execute the tasks in nuclear facility efficiently is proposed. A series of simulations are performed to verify the effectiveness of the proposed method.
Keywords