http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 주제어 : Tethered robot (검색결과 7 건)
- 무료
- 기관 내 무료
- 유료
-
A Novel Offline Coverage Path Planning Algorithm for A Tethered Robot
L.S.R. Mechsy,M.U.B. Dias,W. Pragithmukar,A.L. Kulasekera 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents a solution to the problem of 2D coverage path planning (CPP) for a tethered robot where the tether is of a constraint length connected to a fixed point in a known environment. Limited research has been done in this problem area hence there is a lack of algorithms providing CPP in the literature. CPP algorithms are highly useful in various applications such as search and rescue robots, cleaning robots, area exploration robots, agricultural robots and lawn maintenance robots. The path planning algorithm discussed here can be used in an environment having a defined boundary with an a priori map. The given algorithm enables the robot to take an optimum path while detecting, avoiding static obstacles and preventing entanglements of the tether. An occupancy grid map based approach is used here. The algorithm is applicable to a system with a mechanism to retract and extend the tether when required either mounted on the robot or a fixed base. The proposed novel algorithm to the problem assures coverage of all accessible grids in the map. The implementation and the scalability of the algorithm has also been validated using simulation in MATLAB.
-
Coordinated Control Method of Space-tethered Robot System for Tracking Optimal Trajectory
Xiudong Xu,Panfeng Huang 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.1
Space-tethered robot system is a new kind of space robot, which consists of a robot platform, space tether, and operation robot. This paper presents the coordinated control method in order to save thruster fuel of operation robot in the process of tracking the optimal approach trajectory. First, the optimal approach trajectory of an operation robot is designed using the Gauss pseudospectral method, which resulted in continuous optimal control force using the Lagrange interpolation scheme. The optimal control force is optimized and distributed to space tether and thrusters through simulated annealing algorithm in discrete points, which minimized fuel consumption of thrusters. The distributive continuous force is obtained via cubic polynomial fitting of optimal distributive force in 0.1s discrete time point. To tracking the optimal trajectory, Fuzzy Proportional-Derivative controller is designed with the help of optimal distribution force which come from optimization model. Simultaneously, the relative attitude of the operation robot is stabilized using attitude time-delay algorithm through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance in tracking the optimal trajectory.
-
Human-Following Robot using Tether Steering
추준욱,윤인찬,최귀원,이연정 한국정밀공학회 2011 International Journal of Precision Engineering and Vol.12 No.5
A new human-following robot with a tether steering mechanism is proposed that could be useful in the case of carrying luggage or as a jogging companion. In a crowded or cluttered environment, tether steering has certain advantages over non-contact methods using a camera, laser range finder, or ultrasonic transponder. The proposed robot has a modular architecture that consists of a steering module and two driving modules that communicate with each other using Zigbee wireless communication technology. In addition, motion control algorithms are introduced to provide effortless maneuverability when using the tether steering. A human adaptive algorithm is proposed that estimates the user’s walking velocity to allow the robot to keep pace, while an environment adaptive algorithm performs semi-autonomous navigation to avoid collision with corner shaped obstacles. Experimental results demonstrate the effectiveness of the proposed humanfollowing robot.
-
20 kg급 틸트-덕트 수직이착륙 비행로봇의 설계 및 시험
장성호(Sungho Chang),조암(Am Cho),최성욱(Seongwook Choi) 한국항공우주학회 2016 韓國航空宇宙學會誌 Vol.44 No.12
본 논문에서는 20 kg급 틸트-덕트 수직이착륙 비행로봇 개발을 위한 비행체의 설계, 제작 및 시험 결과를 제시한다. 틸트-덕트 비행체는 추력발생을 위한 두 개의 메인프롭과 피치축 자세 제어를 위한 후방프롭으로 구성된다. 비행체의 추력과 자세 안정성 향상을 위해 호버와 조종성 연구에 중점을 두었다. 비행체 조종 성능 개선을 위해 메인프롭 링키지 변경에 의한 롤축 안정성 영향, 작동기 변경에 따른 자세제어 성능, 외풍에 대한 덕트 유, 무상태의 영향 및 조종면 영향을 확인할 수 있는 안전줄 시험이 수행되었다. This paper presents the results of the design, fabrication and tether test for a gross weight 20 kg tilt-duct VTOL aerial robot. The tilt-duct vehicle, a tri-ducts air-vehicle, which composed of two main tilt ducts for thrust and an aft-fan for pitch attitude control, has been developed as an aerial platform. The research on the air vehicle has been focused on the hover characteristics and controllability to improve the thrust and stability. The tether test for measuring various performance of vehicle and evaluating controllability have been carried out to figure out effects of modified main-prop linkage, actuator, duct configuration and control surfaces.
-
A Mobile Robot Based Watering System for Smart Lawn Maintenance
L.S.R. Mechsy,M.U.B. Dias,W. Pragithmukar,A.L. Kulasekera 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Lawn maintenance is a tedious task that requires watering, mowing and fertilizing to be carried out at regular intervals to maintain a healthy lawn. Significant wastage and pollution occurs due to improper lawn maintenance practices. With many repetitive and routine tasks being replaced by robotic systems, lawn maintenance could also be achieved using a robotic system that would limit wastage and pollution, ensure a healthy lawn and reduce the work content of the lawn owner. This research presents a prototype robotic system developed to water a lawn efficiently by measuring soil moisture levels. The system comprises a tethered mobile platform and a watering system. The mobile platform is capable of measuring the soil moisture levels at a required depth and controls the water delivery based on pre-set moisture requirements. A novel Coverage path planning (CPP) algorithm was developed to account for the constraints posed by the tether and navigate to all accessible areas within a given lawn layout. The CPP algorithm uses a priori map consisting of environment data and prevalent static obstacles. This paper presents a fully autonomous system, which is able to water the lawn, traversing the path generated by CPP algorithm. The control system of the robot was developed using the Robot Operating System (ROS). The control system is designed in three layers. The higher level provides path planning and decision making, the mid-level provides communication with the hardware and carries out mandatory calculations and the lower level performs reading of sensor inputs and controlling of actuators. The control system was designed in a manner such that it can be remotely monitored and controlled. The developed platform was tested carrying out area coverage while watering a test area.
-
-
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
