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김동형(Dong-Hyung Kim),최윤성(Youn-Sung Choi),김현국(Hyeonguk Kim),전명재(Myoungjae Jun),백성훈(Sunghoon Back),이용석(Yongseok Lee),이지영(Ji Yeong Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
This paper proposes an algorithm for the trajectory planning of a dual-arm robot. Since the original collision-free path obtained in a probabilistic manner is unnecessarily jerky, it may induce high acceleration in the robot’s actuators, so we regard this as a low-quality path. We propose a B-spline trajectory planning algorithm that transforms the path into a collision-free and smooth trajectory to improve its quality. We applied our proposed algorithm to a cell-phone assembly task using a dual-arm robot as a specific application example. The simulation results show that the smooth and collision-free trajectories can be generated for the task with our motion planning simulator.
인-휠 전륜 구동 전기자동차를 위한 선회 운동제어에 관한 연구
김상호(Sangho Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김동형(Donghyung Kim),백성훈(Sunghoon Back),한창수(Changsoo Han) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
This paper proposes the control algorithm for a front wheel drive electric vehicle with in-wheel electric motor. This control algorithm is developed to improve the lateral vehicle dynamic motion. Driving Control algorithm for controlling the lateral movement of the vehicle consists of the direct yaw moment control algorithm and torque distribution algorithm. The direct yaw moment control algorithm determines the desired yaw moment for neutral steering performance and calculates the desired longitudinal force for longitudinal drive. Torque distribution algorithm defines the desired wheel torque on the left and right wheel from the desired yaw moment, desired longitudinal force and tire forces. The proposed control algorithm is simulated using CarSim software. The performance is verified by comparing the trajectory results and yaw rate results of a vehicle model with and without this control algorithm.
인-휠 모터 후륜 전기자동차의 타이어 힘 분배에 대한 연구
김상호(Sangho Kim),김창준(Changjun Kim),최주영(Jooyoung Choi),미안아쉬팍알리(Mian Ashfaq Ali),백성훈(Sunghoon Back),한창수(Changsoo Han) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper propose the tire force distribution method for a rear wheel drive electric vehicle with in-wheel motor and evaluate the energy saving performance. This tire force distribution method is developed to improve the vehicle stability under the high speed cornering condition. The vehicle control algorithm consists of direct yaw moment control and tire force distribution method. The direct yaw moment control is designed to obtain reference yaw rate and yaw moment. It is defined by steering input and 2-DOF vehicle model and has a model-based control. The tire force distribution method calculates the desired longitudinal tire forces at left and right wheel using the yaw moment and total desired longitudinal force from the acceleration pedal signal. The calculated tire longitudinal forces at the left and right wheel are compared with the maximum longitudinal tire forces and are controlled by it. The maximum longitudinal tire force is calculated by friction circle theory. The proposed tire force distribution method is verified by the simulation using CarSim software. And it is found from simulation results that the proposed method provides improvement vehicle stability and saving the energy under the high speed cornering condition.
Built-in guide 타입 다중 로봇의 고층 빌딩 외벽 청소를 위한 센서 기반 운동 계획 알고리즘
이승훈(Seunghoon Lee),김동형(Dong-Hyung Kim),강민성(Min-Sung Kang),길명수(Myung-Soo Gil),김영수(YoungSoo Kim),백성훈(SungHoon Back),한창수(Chang-Soo Han) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.5
With the increasing number of high-rise and large-scale buildings, modem buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building’s outer-wall glass is proposed; Kalman filter was used for estimating robots" status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.