Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Implementation and Control of an Extendable and Separable Mobile Robot Manipulator For Indoor Service

높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어

  • Ahn, Jae-Kook (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 안재국 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2010.07.20
  • Accepted : 2010.12.13
  • Published : 2011.01.25
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Abstract

This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot ann and the mobile robot as well. The mobile base can be separately used for a cleaning service.

본 논문은 실내에서 사용할 이동로봇의 구현과 제어에 대한 것이다. 로봇은 두 팔을 가지고 이동할 수 있는 베이스로 구성된다. 로봇은 디자인에 있어 및 가지 특정을 가진다. 첫 번째, 로봇의 허리는 높낮이 조절이 가능하다. 두 번째로 로봇은 접촉인 이동로봇 모드에서 2 점 접촉인 밸런싱 모드로 전환이 가능하다. 마지막으로 로봇은 상제와 하체의 분리 기능을 갖는다. 이동 베이스 부분은 청소작업에 사용이 가능하다.

Keywords

References

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