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
- 학위논문
- 저자정보
- 발행연도
- 2015
- 저작권
- 부산대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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This paper proposes a control system to keep the balance for a two-wheeled mobile manipulator
through the attitude control of mobile platform. The robot consists of a mobile platform and
3D.O.F. manipulator. Previously, a complicated dynamics that totally considers each link was
required for balancing control of a mobile manipulator. The method proposed in this paper,
however, regards 3 links as one body of mass and derived dynamics by using an inverted
pendulum model. Because the major advantage of sliding mode controller is low sensitivity to
plant parameter variations and disturbances which eliminates the necessity of exact modeling, we
use sliding mode control to attitude control of mobile platform’s pitch axis. An angle of whole
robot’s center of gravity is changed depending on motions of the manipulator. And the angle
variation of center of gravity is used as reference input for sliding mode controller of pitch axis. So,
the mobile manipulator’s center of gravity is moved in the middle of robot and the robot can keep
the balance. To confirm the performance of controller, MATLAB Simulink is used and proposed
controller is applied to real robot.
through the attitude control of mobile platform. The robot consists of a mobile platform and
3D.O.F. manipulator. Previously, a complicated dynamics that totally considers each link was
required for balancing control of a mobile manipulator. The method proposed in this paper,
however, regards 3 links as one body of mass and derived dynamics by using an inverted
pendulum model. Because the major advantage of sliding mode controller is low sensitivity to
plant parameter variations and disturbances which eliminates the necessity of exact modeling, we
use sliding mode control to attitude control of mobile platform’s pitch axis. An angle of whole
robot’s center of gravity is changed depending on motions of the manipulator. And the angle
variation of center of gravity is used as reference input for sliding mode controller of pitch axis. So,
the mobile manipulator’s center of gravity is moved in the middle of robot and the robot can keep
the balance. To confirm the performance of controller, MATLAB Simulink is used and proposed
controller is applied to real robot.
목차
1. 서 론 12. 이륜형 모바일 머니퓰레이터의 구성 42.1. 하드웨어 구성 42.2. 시스템 구성 63. 무게중심변화와 로봇 동역학 73.1. 무게 중심 변화 73.2. Pitch축 동역학 모델 103.3. Motor 동역학 모델 134. 제어기 설계 164.1. Pitch축 슬라이딩 모드 제어기 164.2. 무게중심변화를 고려한 Pitch축 제어기 204.3. 위치 제어를 위한 PID제어기 215. 시뮬레이션 및 실험 결과 235.1. 시뮬레이션 235.2. 실험 결과 266. 결 론 30참고문헌 35Abstract 38
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