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박민수(Minsu Park),임재식(Jae-Sik Lim),김민수(Minsu Kim),김상욱(Sanguk Kim),최종성(Jongsung Choi),송정일(Jungil Song) 한국해군과학기술학회 2023 Journal of the KNST Vol.6 No.1
This study focuses on the control of a robot manipulator that implements the operation of a landmine detection system that can be mounted on a tactical vehicle. Mine detection uses height control and pitch control drives that follow longitudinal changes. Through this, the probability of detection is increased by maintaining a constant height while the depth of burial is unknown. In this study, the final performance of the controller was confirmed through theory, performance design, performance simulation, manufacturing and testing. The differentiation of this study is that a roll-controlled driving device was used to follow the transverse direction in addition to following the longitudinal surface change. The roll driving device helps improve practicality by helping to set the initial value of the sensor and simplifying portability when moving vehicle. It is believed that further research will be able to follow the lateral changes of the surface.