Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Control of an Omni-directional Electric Board using Driver Weight Shift

운전자 체중 이동을 이용한 전방향 전동 보드의 제어

  • Choi, Yong Joon (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology) ;
  • Ryoo, Jung Rae (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology)
  • 최용준 (서울과학기술대학교 전기정보공학과) ;
  • 류정래 (서울과학기술대학교 전기정보공학과)
  • Received : 2016.03.08
  • Accepted : 2016.03.24
  • Published : 2016.04.25
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Abstract

This paper presents a control method of a mecanum wheel-based omni-directional electric board using driver weight shift. Instead of a steering device such as a joystick or a remote controller, 3 degree-of-freedom driving command for translational and rotational motion of the omni-directional electric board is generated from position of center of gravity measured from weight distribution. The weight shifting motion is not only a driving command but also an intuitive motion to overcome inertial forces. The overall control structure is presented with experimental results to prove validity of the proposed method.

본 논문에서는 운전자의 체중 이동을 활용한 메카넘 휠 기반 전방향 전동 보드 제어 방법을 제안한다. 운전을 위한 별도의 운전 장치를 사용하지 않으며, 다수의 센서를 활용하여 측정한 체중 분포로부터 무게 중심의 위치를 구하여 전방향 전동 보드의 병진 운동과 회전 운동의 3 자유도 운전 명령을 생성한다. 체중 이동은 운전 명령으로 반영됨과 동시에 관성력을 극복하기 위한 운전자의 동작과 일치하여 직관적인 장점이 있다. 전체 제어 구조를 제시하며, 실험에 적용하여 제안된 방식의 타당성을 확인한다.

Keywords

References

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