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.11
- 발행연도
- 2013.11
- 수록면
- 1,161 - 1,169 (9page)
이용수
초록· 키워드
오류제보하기
In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.
목차
1. 서론
2. 전방향바퀴 기반의 이동 메커니즘 설계
3. 이동로봇 플랫폼 구성
4. 이동로봇 제어알고리즘
5. 결론
참고문헌
참고문헌 (9)
참고문헌 신청
Muir, P. F. / 1987 / Kinematic Modelingfor Feedback Control of an Omnidirection WheeledMobile Robot / IEEE International Conference onRobotics and Automation 4:1772~1778
Doroftei, I. / 2007 / Omnidirectional Mobile Robot-Design andImplementation / Bioinspiration and RoboticsWalking and Climbing Robots :511~528
NTREX Co / NT-MECANUM-BASIC
Rotacaster Wheel Ltd. / Rotacaster multi-directionalwheels
Lee, Y. -C. / 2007 / Control of a Redundant, Reconfigurable BallWheel Drive Mechanism for an OmnidirectionalMobile Platform / Robotica 25(4):385~395
Doroftei, I. / 2007 / Omnidirectional Mobile Robot-Design andImplementation / Bioinspiration and RoboticsWalking and Climbing Robots :511~528
NTREX Co / NT-MECANUM-BASIC
Rotacaster Wheel Ltd. / Rotacaster multi-directionalwheels
Lee, Y. -C. / 2007 / Control of a Redundant, Reconfigurable BallWheel Drive Mechanism for an OmnidirectionalMobile Platform / Robotica 25(4):385~395
이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0