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文鍾寓,金鍾守,朴世承 조선대학교 전자정보통신연구소 2000 電子情報通信硏究所論文誌 Vol.3 No.1
본 논문에서는 4륜 2 자유도 구륜이동로보트의 기구학 및 동역학적 모델링과 경로 추적을 다루었다. 구륜이동로보트의 기구학 모델을 이용하여 구륜이동로보트의 가제어성을 살펴본다. 동역학 모델의 유도를 위해 순간 일치 좌표계, 힘/토크의 전파와 중첩 그리고 Newton의 평형법칙을 이용한다. 모델링 불확실성으로 인한 오차의 보상을 위해 제어기를 도입한다. 또한 모의실험을 통해 본 논문의 유효성을 입증한다. In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o f Controllability of wheeled-mobile robots is revealed by using the kinematic model Instantaneously coincident coordinate system, force/torque propagation and superposition, and Newton's equilibrium law are used to induce the dynamic model The controller is introduced to compensate for error owing to modeling uncertainty And simulation results prove that method proposed by this paper is efficient
기구학적 불완전성을 갖는 구륜이동로보트의 기구학적 보정과 방향각 오차의 감소를 위한 속도 궤적의 설계
문종우,김원규,박종국 慶熙大學校 材料科學技術硏究所 1998 材料科學技術硏究論集 Vol.11 No.-
This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile robots'line-travelling. We derive the relative wheel-weight and the absolute wheel-weight to correct the radius of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along a straight-line perfectly and the velocity trajectory must have the chage of velocity at least one. To prove efficiency of the method in this paper, we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss the results.
제한된 구동 토크를 갖는 4륜 2 자유도 구류 로보트의 모델링과 경로추적
문종우,박종국 대한전자공학회 1996 전자공학회논문지-B Vol.b33 No.4
In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.
구륜이동로보트의 기구학적 보정과 모터 제어기의 가속도 해상도를 고려한 속도 궤적의 설계
문종우,김원규,박종국 慶熙大學校 1998 論文集 Vol.27 No.-
This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile wheel-weight to correct the radios of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along the straight-line perfectly and prove that it is attributed to the acceleration constraint of motor controllers and the velocity trajectory have to get a change of velocity in order that wheeled-mobile robots may converge to the straight line. And we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss results.
극좌표계를 이용한 구륜이동로보트의 기구학 모델 변환과 기준모델 적응제어에 기초한 경로추적 제어기 설계
문종우,김종수,박세승 조선대학교 전자정보통신연구소 2002 電子情報通信硏究所論文誌 Vol.5 No.2
This paper presents the kinematic model and the design of a model-reference adaptive controller for wheeled-mobile robots(WMRs) with 2 d.o.f. We derive the forward kinematics and the inverse kinematics to calculate the wheel-velocity and body-velocity. The controlled variables are represented in the polar coordinate so that the number of the controlled variable can be reduced to the same number as the control input. A controller is proposed for path tracking, and then controller parameters are modified by adaptation law based on model-reference adaptive control(MRAC) each step. The designed adaptive controller is analyzed, and its stability and convergence are proved. Simulation is conducted to evaluate the control system and the results are shown.
구륜이동로보트의 기구학적 보정과 모터 제어기의 가속도 제약을 고려한 속도 궤적의 설계
文鍾寓,白祥煜,朴世承 朝鮮大學校 電子情報通信硏究所 2003 電子情報通信硏究所論文誌 Vol.6 No.2
This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile robots' line-travelling. We derive the relative wheel-weight and the absolute wheel-weight to correct radius of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along the straight-line perfectly and prove that it is attributed to the acceleration constraint of motor controllers and the velocity trajectory have to get a change of velocity in order that wheeled-mobile robots may converge to the straight line. To prove justification and efficiency of methods proposed in this paper, we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss results.
구륜이동로봇의 모델링과 Time-Scaling 기법을 이용한 경로추적
문종우,김종수,박세승 조선대학교 전자정보통신연구소 2003 電子情報通信硏究所論文誌 Vol.6 No.1
In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d o f having the limited drive-torques Controllability of wheeled-mobile robots is revealed by using the kinematic model Instantaneously coincident coordinate cystem, force/torque propagation and Newton s equilibrium law are used to induce the dynamic model When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.
문종우,김종수 공주대학교 생산기술연구소 2001 生産技術論叢 Vol.10 No.-
Motion controls have the problems due to the non-holonomic constraints of WRMs. This paper proposes the independent controller of velocity for tracking the paths and uses the MRAC theory to pursue the convergence of tracking error to 0. Also, to show the validation of the proposed algorithm, the simulation for stability of control system and convergence of tracking error is performed.
문종우,정용욱,김원규,박종국 慶熙大學校 1994 論文集 Vol.23 No.-
In this paper a systematic method for the kinematic modeling of a wheeled mobile robot is presented. This type of methodology is useful to analyze, design, simulate and control any kind of rolling robots. Using the four-wheeled 2-DOF mobile robot as an example, we then analyze the kinematic modeling and through the dead-reckoning updata algorithm, real-time control of WMR position is possible.