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.
초록· 키워드
오류제보하기
This paper presents an adaptive tracking control method for a welding mobile manipulator with several unknown parameters such as the last length of the manipulator, the wheel radius and the distance from the center to the wheel. The mobile manipulator consisted of the manipulator and the mobile-platform. Kinematic modelings for the manipulator and the mobile-platform with several unknown parameters were produced. The tracking error vectors for the manipulator and the mobile-platform were defined. These adaptive controllers were designed based on the Lyapunov function to guarantee the stability of the whole system when the mobile manipulator performs a welding task. Update laws were also designed to estimate the unknown dimensional parameters. To implement the designed controllers, a control system integrated with PIC16F877 microporcessors and a TMS320C32 DSP was developed. Simulation and experimental results are presented to show the effectiveness of the proposed controller.
목차
ABSTRACT
1. Introduction
2. System Modeling
3. Controllers Design
4. Measurement of the Errors
5. Control System Development
6. Simulation and Experimental Results
7. Conclusions
Aknowledgements
References
참고문헌 (6)
참고문헌 신청
1. [학술지(정기간행물)] - Ngo Manh Dung / 2007 / Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Welding Path Using Adaptive Sliding-Mode Control Technique / International Journal of Control, Automation, and Systems 5 (3) : 283 ~ 294
2. [학술지(정기간행물)] - Fukao, T. / 2000 / Adaptive Tracking Control of a Non-holonomic Mobile Robot / Transactions on Robotics and Automation 16 (5) : 609 ~ 615
3. [학술지(정기간행물)] - Lee, G.D. / 1995 / Real Time Control for Postionand Velocity of Robot Manipulator with Parameter Uncertainties / J. of Ocean Engineering ad Technology 9 (2) : 30 ~ 40
4. [학술지(정기간행물)] - Lee, S.M. / 1995 / Robust Control of a Manipulator Contacting the Uncertain Environment / J. of Ocean Engineering ad Technology 9 (2) : 175 ~ 185
5. [학술지(정기간행물)] - Phan, T.T. / 2005 / Decentralized Control Design for Welding Mobile Manipulator / Transactions on International Journal (KSME) 19 (3) : 756 ~ 767
2. [학술지(정기간행물)] - Fukao, T. / 2000 / Adaptive Tracking Control of a Non-holonomic Mobile Robot / Transactions on Robotics and Automation 16 (5) : 609 ~ 615
3. [학술지(정기간행물)] - Lee, G.D. / 1995 / Real Time Control for Postionand Velocity of Robot Manipulator with Parameter Uncertainties / J. of Ocean Engineering ad Technology 9 (2) : 30 ~ 40
4. [학술지(정기간행물)] - Lee, S.M. / 1995 / Robust Control of a Manipulator Contacting the Uncertain Environment / J. of Ocean Engineering ad Technology 9 (2) : 175 ~ 185
5. [학술지(정기간행물)] - Phan, T.T. / 2005 / Decentralized Control Design for Welding Mobile Manipulator / Transactions on International Journal (KSME) 19 (3) : 756 ~ 767
함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
A Study on Unknown Parameter Adaptive Control for Welding Mobile Manipulator
제어로봇시스템학회 합동학술대회 논문집
2003 .12
-
A Study on a Mobile Platform-Manipulator
한국동력기계공학회 학술대회 논문집
2004 .05
-
Decentralized Control Design for Welding Mobile Manipulator
Journal of Mechanical Science and Technology
2005 .03
-
6자유도를 가지는 모바일 머니퓰레이터의 균형제어
정보 및 제어 논문집
2014 .10
-
Control of Mobile Manipulator for Tracking Vertical Smooth Welding Trajectory
한국동력기계공학회 학술대회 논문집
2004 .05
-
Tracking Controller Design of Omnidirectional Mobile Manipulator System
제어로봇시스템학회 국제학술대회 논문집
2009 .08
-
A robot manipulator on the mobile platform for an off-road environment
제어로봇시스템학회 국제학술대회 논문집
2014 .10
-
분산형 제어구조를 가진 Mobile Manipulator 제어 시스템의 설계
대한전기학회 학술대회 논문집
1999 .07
-
로봇 매니퓰레이터의 분산 적응제어군
대한기계학회 춘추학술대회
2004 .11
-
Optimal Configuration Control for a Mobile Manipulator
KSME International Journal
2000 .06
-
THE NEW CONTROL STRATEGY OF MANIPULATOR
대한전자공학회 기타 간행물
1992 .01
-
궤도추종을 위한 메니퓰레이터의 적응 추종 제어에 관한 연구
대한전기학회 학술대회 논문집
2005 .10
-
On the Adaptive Controller Design of Robotic Manipulators
KITE JOURNAL OF ELECTRONICS ENGINEERING
1991 .01
-
모바일 매니퓰레이터의 두 팔 제어
제어로봇시스템학회 국내학술대회 논문집
2012 .04
-
무게중심위치와 슬라이딩 모드 제어를 통한 이륜형 모바일 머니퓰레이터의 자세제어
제어로봇시스템학회 논문지
2015 .08
-
Integrated Task Planning based on Mobility of Mobile Manipulator(M2) Platform
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2009 .09
-
Robust Adaptive Position/Force Control of Mobile Manipulators with Kinematic and Dynamic Uncertainties
제어로봇시스템학회 국제학술대회 논문집
2009 .08
-
고난도 작업을 위한 모바일 유압 매니퓰레이터 시스템 개발
제어로봇시스템학회 국내학술대회 논문집
2018 .05
-
A New Concept of Manipulator Modeling
제어로봇시스템학회 국제학술대회 논문집
2003 .10
-
A Simple Control Method for Opening a Door with Mobile Manipulator
제어로봇시스템학회 국제학술대회 논문집
2003 .10
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2009-559-019490938