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
- 발행연도
- 2013.10
- 수록면
- 915 - 920 (6page)
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초록· 키워드
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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.
목차
Abstract
Ⅰ. 서론
Ⅱ. 로봇 메커니즘 및 성능
Ⅲ. 추종 제어기 설계
Ⅳ. 제어기 이득 최적화
Ⅴ. 결론
REFERENCES
참고문헌 (11)
참고문헌 신청
1. [학술대회논문] - W. Shen / 2005 / Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks / Proc. of the IEEE International Conference on Mechatronics and Automation : 2072 ~ 2077
4. [학술지(정기간행물)] - S. Kim / 2008 / Smooth vertical surface climbing with directional adhesion / IEEE Transaction on Robotics 24 (1) : 65 ~ 74
5. [학술대회논문] - W. Fischer / 2009 / Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments / Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems : 4116 ~ 4121
6. [학술대회논문] - J. C. Grieco / 1998 / A six-legged climbing robot for high payloads / Proc. of the IEEE Int’l Conf. on Control Applications : 446 ~ 450
7. [학술지(정기간행물)] - T. Seo / 2013 / Tank-like module-based climbing robot using passive compliant joints / IEEE/ASME Transaction on Mechatronics 18 (1) : 397 ~ 408
4. [학술지(정기간행물)] - S. Kim / 2008 / Smooth vertical surface climbing with directional adhesion / IEEE Transaction on Robotics 24 (1) : 65 ~ 74
5. [학술대회논문] - W. Fischer / 2009 / Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments / Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems : 4116 ~ 4121
6. [학술대회논문] - J. C. Grieco / 1998 / A six-legged climbing robot for high payloads / Proc. of the IEEE Int’l Conf. on Control Applications : 446 ~ 450
7. [학술지(정기간행물)] - T. Seo / 2013 / Tank-like module-based climbing robot using passive compliant joints / IEEE/ASME Transaction on Mechatronics 18 (1) : 397 ~ 408
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UCI(KEPA) : I410-ECN-0101-2014-560-002843929