Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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Development of a Parallel Robot for Testing a Mobile Surveillance Robot Stabilization System

모바일 경계로봇의 안정화 시스템 테스트를 위한 병렬로봇의 개발

  • 김도현 (충남대학교 메카트로닉스공학과 대학원) ;
  • 권정주 (충남대학교 메카트로닉스공학과 대학원) ;
  • 김성수 (충남대학교 메카트로닉스공학과) ;
  • 최희병 (충남대학교 메카트로닉스공학과) ;
  • 박성호 ((주)도담시스템스)
  • Published : 2008.11.05
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Abstract

A 6 D.O.F Stewart platform type parallel robot has been developed as a simulator to test the surveillance robot stabilization control. Since the surveillance robot is installed on the unmanned ground vehicle (UGV), it is required to have a stabilization control system to compensate the disturbance from the UGV. PID control scheme has been applied to the parallel robot to generate controlled motion following the input motion.

Keywords