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높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어
오종균(Jongkyun Oh),이기욱(Giuk Lee),김종원(Jongwon Kim),서태원(TaeWon Seo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.