홀로노믹 다중 조향 휠 플랫폼의 특이점 완화

다국어 초록 (Multilingual Abstract)

Holonomic mobile platforms with Multi-Steerable-Wheel Drive (MSWD) are essential
for agile logistics but suffer from kinematic singularities in traditional control methods.
Specifically, control parameters diverge as the rotational velocity approaches zero, leading to system instability. This thesis proposes a geometric control mechanism to
address these kinematic singularities. First, a Spherical Coordinate-based ICR Reparamet
erization is introduced to eliminate mathematical singularities by transforming control v
ariables, ensuring bounded and continuous parameters even at zero yaw rate. Second, a
Planar Twist-based Velocity Control algorithm using Screw Theory is developed. This
method projects the body twist onto the steering directions of the wheels, avoiding mat
rix inversion and preventing velocity spikes in both over-actuated and under-actuated sy
stems.
Validation through MATLAB simulations (2SD, 3SD, 4SD) and experiments with a c
ustom 2SD platform confirmed that the proposed approach effectively mitigates singular
ities, enabling smooth and stable trajectory tracking. This study offers a robust solution
for enhancing the stability and reliability of omnidirectional mobile robots in industrial
applications.

목차 (Table of Contents)

• 1. 서론 1
• 1.1 연구 배경 1
• 1.2 연구 목표 4
• 2. 전방향 주행 플랫폼 전통적 제어 기법 7
• 2.1 전통적 기구학 모델 분석 7
• 2.2 순간 회전 중심점 기반 전통적 제어 메커니즘 17
• 2.3 자코비안 기반 전통적 제어 메커니즘 20
• 2.4 전통적 제어 기법 특이점 분석 22
• 3. 특이점 완화를 위한 제어 메커니즘 설계 30
• 3.1 구형 좌표계 기반 제어 메커니즘 수식화 30
• 3.2 평면 트위스트 기반 제어 메커니즘 수식화 36
• 3.3 시뮬레이션 기반 검증 40
• 3.4 홀로노믹 플랫폼 실험 및 결과 48
• 4. 결론 51
• 5. 참고문헌 53