• 한국정밀공학회지
• /
• 제30권11호
• /
• pp.1161-1169
• /
• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 추계학술대회
• /
• pp.44-46
• /
• 2018

본 논문은 IoT전용 망인 LoRa망을 이용하여 무인이동체와 관제 서버 시스템간의 통신을 통하여 무인이동체들을 통제가 가능한 시스템에 대한 설계이다. 작은 공간인 집이나 혹은 사무실 병원 에서부터 공장까지 LoRa망을 적용한 무인이동체 관제 시스템을 설치하여 무인이동체가 특수한 작업을 할 때, 더욱 효율성을 높여준다. 본 논문에서는 네비게이션 경로에 대한 간략화에서부터 다른 이동체 주변에서 일어난 이벤트들에 대한 소통이 가능해 짐으로써, 무인이동체에 대한 사회적 활용도를 더욱 높여주는 시스템에 대한 설계에 대한 내용을 다룬다.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권2호
• /
• pp.74-80
• /
• 2000

In this paper, we present a control method of mobile power assist systems. Most of mobile power assist systems have a heavy base for preventing easy tumbling, so continual movement of the base during operations causes high energy consumption and gives the high risk of human injury. Furthermore, the slow dynamics of the base limits the frequency bandwidth of the whole system. Thus we propose a cooperation control method of the mobile base and manipulator, which removes the unnecessary movements of the base. In our scheme, the mobile base does not move until the center of gravity(C.G) of the system goes outside a safety region. When C.G. reaches the boundary of the safety region, the base starts moving to recover the manipulator's initial configuration. By varying the parameters of a human impedance controller, the operator is warned by a force feedback that C.G. is on the marginal safety region. Our scheme is implemented by assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator. Our scheme is implemented by a nonlinear mass-spring impedance to the tip of the manipulator. The experimental results show the efficacy of the proposed control method.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
• /
• pp.587-590
• /
• 2003

In this paper, the control of the differential drive wheeled mobile robot (DDWMR) is studied. Because the DDWMR have non-holonomic constraints, it cannot be stabilized by smooth feedback. The T-S fuzzy model for the DDWMR is presented and a control algorithm Is developed by well known PID control and LMI based regional pole-placement.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 춘계학술대회 논문집
• /
• pp.561-566
• /
• 2002

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
• /
• pp.146-151
• /
• 2001

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 한국정보통신학회논문지
• /
• 제21권4호
• /
• pp.698-707
• /
• 2017

본 논문에서 이동로봇의 기준궤적추적제어를 위한 예측제어방법을 다룬다. 예측제어는 예측모델을 사용하여 기준궤적과 시스템 상태 간의 미래오차들을 최소화시키는 효과적인 제어방법으로 알려져 있으나, 실시간 계산량이 너무 많아 화공정 플랜트와 같이 매우 느린 시스템에 한정되어 적용되었다. 근래에는 컴퓨터 기술 발달로 고속계산이 가능하여 이동로봇과 같은 빠른 시스템에도 예측제어방법이 도입되고 있다. 그런데 예측제어기에서 제어성능과 관계된 제어 파라미터들이 있는데 임의로 지정되어 최적화되지 못하였다. 본 논문에서 이동로봇 예측제어기 성능 개선을 위해 관련 제어 파라미터들을 유전알고리즘으로 최적화시켰고 모의실험을 통해 제어성능이 개선됨을 확인하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2015년도 제46회 하계학술대회
• /
• pp.1337-1338
• /
• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• 한국산업융합학회 논문집
• /
• 제16권4호
• /
• pp.127-132
• /
• 2013

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 한국산업융합학회 논문집
• /
• 제18권1호
• /
• pp.10-17
• /
• 2015

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.