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인간형 로봇의 자세제어를 위한 안정화 제어를 이용한 퓨전 센서 시스템 개발
박진성(Jinseong Park),박영진(Youngjin Park),박윤식(Youn-Sik Park),홍덕화(Deokhwa Hong),이현기(Hyunki Lee),조형석(Hyungsuck Cho) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Position estimating fusion sensor system is proposed to control attitude of the humanoid robot. To apply vision sensor to control the attitude of the humanoid robot we should solve limitations of vision sensor which are low sampling frequency, estimation time delay and limited estimation range. Sensor fusion with MEMS gyro sensor can remove estimation time delay and increase sampling frequency. Stabilization control can remove limited estimation range by regulating of the vision sensor to initial position all the time. In this research, humanoid robot is modeled as one axis inverted pendulum which represents a leg of the humanoid robot.
모델 예측 제어를 이용한 높은 질량 중심을 가지는 전방향 이동 로봇의 진동 저감 제어
박진성(Jinseong Park),고두열(Doo-Yeol Koh),김정중(Jeong-Jung Kim) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.10
Autonomous mobile robots equipped with long-stroke lift modules have been developed to assist human workers to transport high positioned heavy objects in the field of logistics. A large amount of rolling vibration during acceleration or deceleration when driving is inevitable for a robot with a high center of mass and low stiffness mechanism. In this study, the simultaneous control of reference velocity tracking and vibration reduction, only using driving motors, is proposed based on a suspended cart-pole inverted pendulum model that combines velocity and vertical vibration motion. A model predictive controller was adopted to account for constraints that prevented the object from slipping when placed atop the lift by saturating the magnitude of the rolling angular acceleration. The simulation results verified that the residual vibration time and magnitude significantly decreased with the proposed controller compared to the controller accounting for driving velocity alone. Additionally, object slippage prevention was ensured with taking minimal loss of the reference velocity tracking performance.
인휠 모터 전기 자동차의 히브와 피치 운동 제어에 대한 동적 분석
박진성(Jinseong Park),박영진(Youngjin Park),박윤식(Youn-Sik Park) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
Dynamic analysis of ride control for In-wheel motor in Electric vehicle is studied using Degree of Disturbance Rejectability. Half car model including heave and pitch motions as well as longitudinal motion is used and actuator dynamics is augmented to emphasize the advantage of in-wheel motor compared to internal combustion engine. It is found that ride control when vehicle is driven at random noise is possible only with in-wheel motor while internal combustion engine vehicle need additional suspension controller to control heave and pitch motion because internal combustion engine has very low response.