한국시뮬레이션학회논문지 (Journal of the Korea Society for Simulation)

한국시뮬레이션학회 (The Korea Society for Simulation)
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효율적인 구조로봇 개발을 위한 통합 M&S 프레임워크

Modeling & Simulation Framework for the Efficient Development of a Rescue Robot

  • 투고 : 2019.04.15
  • 심사 : 2019.06.28
  • 발행 : 2019.06.30
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초록

본 연구에서는 전장이나 재난 환경과 같은 인간이 투입되기 힘든 환경에서 인간을 대신하여 부상자 구조 및 위험물 처리 목적으로 개발된 구조로봇의 효율적 개발을 위한 통합 M&S 프레임워크를 소개한다. 개발된 통합 M&S 프레임워크는 계층화, 모듈화된 통합운동제어 소프트웨어의 구조에 기인하여 통합운동제어 소프트웨어 구조는 동일하게 이용하며 로봇 플랫폼을 시뮬레이션 프로그램으로 대체하여 SILS(Software-in-the-Loop Simulation) 개념의 M&S를 가능하게 하였다. 이를 활용하여 로봇 설계 및 로봇 제어 기술의 성능 검증 등의 개발 전 과정을 효율적으로 수행하였고, 비정형 환경에서의 원격 운용성 향상도 가져왔다. 통합 M&S 프레임워크의 적극적인 활용을 통해 구조로봇의 성공적인 개발 및 성능 확인을 완료하였으며, 구조로봇의 주요 기술 중 하나인 가변형상 제어를 통한 주행 안정화 기술 개발 과정에 적용된 통합 M&S 프레임워크의 사례를 통해 효용성을 확인한다.

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

키워드

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Fig. 1. Rescue robot (HURCULES)

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Fig. 2. Configurations of a rescue robot (HURCULES)

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Fig. 3. Software architecture of a rescue robot

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Fig. 4. Integrated M&S framework based robot software architecture

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Fig. 5. Overview of integrated mobility stabilization control block diagram

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Fig. 6. GAZEBO simulation environments

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Fig. 7. Test environment for mobility stabilization control (30% Longitudinal slope)

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Fig. 8. Simulation results of the mobility stabilization control

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Fig. 9. Test results of the mobility stabilization control

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