지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.30 No.1
- 발행연도
- 2013.1
- 수록면
- 18 - 23 (6page)
이용수
초록· 키워드
오류제보하기
Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.
목차
1. 서론
2. 다중이동로봇의 설계 및 동적 모델링
3. 바퀴의 구동력 모델링
4. 구동성능 비교
5. 결론
참고문헌
참고문헌 (8)
참고문헌 신청
Yi, B. -J. / 2002 / The Kinematics for Redundantly Actuated Omnidirectional Mobile Robots / Journal of Robotic Systems 19(6):255~267
Yi, B. -J. / 2011 / Minimum-Time Trajectory for Three-Wheeled Omnidirectional Mobile Robots Following a Bounded-Curvature Path With a Referenced Heading Profile / IEEE Transactions on Robotics 27(4):800~808
d'Andréa-Novel, B. / 1995 / Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization / The International Journal of Robotics Research 14(6):543~559
Asama, H. / 1995 / Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism / IEEE International Conference on Robotics and Automation 2:1925~1930
Hashemi, E. / 2011 / Modelbased PI–fuzzy control of four-wheeled omnidirectional mobile robots / Robotics and Autonomous Systems 59(11):930~942
Yi, B. -J. / 2011 / Minimum-Time Trajectory for Three-Wheeled Omnidirectional Mobile Robots Following a Bounded-Curvature Path With a Referenced Heading Profile / IEEE Transactions on Robotics 27(4):800~808
d'Andréa-Novel, B. / 1995 / Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization / The International Journal of Robotics Research 14(6):543~559
Asama, H. / 1995 / Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism / IEEE International Conference on Robotics and Automation 2:1925~1930
Hashemi, E. / 2011 / Modelbased PI–fuzzy control of four-wheeled omnidirectional mobile robots / Robotics and Autonomous Systems 59(11):930~942
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