http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 주제어 : omnidirectional mobile platform (OMP). (검색결과 5 건)
- 무료
- 기관 내 무료
- 유료
-
Control of a 2-DOF omnidirectional mobile inverted pendulum
Tuan Dinh Viet,Phuc Thinh Doan,Hoang Giang,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.9
In this paper, stabilization of a 2-degrees-of-freedom (2-DOF) omnidirectional mobile inverted pendulum (OM-IP) is studied. The OM-IP consists of the rod that rotates around a rotary point of a universal joint which is connected at the center of the omnidirectional mobile platform (OMP). For ease of analysis, the OM-IP is decoupled into two subsystems: a 2-DOF inverted pendulum (IP) and an OMP. The IP is a rod that rotates around a universal joint with 2-DOF. The OMP is a body consisting of disk and three omnidirectional wheels that moves on plane and keeps the rod in balance. Dynamic modeling of the 2-DOF OM-IP is presented. From the dynamic equation,an adaptive backstepping control method is proposed to keep the rod in balance. Update law is presented as differential equation of an unknown parameter when the distance from the center of gravity of the rod to the rotary point on the OMP is unknown. Stability of the adaptive controller is proven by using Lyapunov function. Simulation and experimental results show the effectiveness of the proposed controller.
-
Tracking Controller Design of Omnidirectional Mobile Manipulator System
Nguyen Hung,Dae-Hwan Kim,Hak-Kyeong Kim,Sang-Bong Kim 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposed a tracking controller for an omnidirectional mobile manipulator system, a three-linked manipulator mounted on a three-wheeled omnidirectional mobile platform, to track a desired trajectory with constant desired velocity. An end-effector mounted at the end of a manipulator of the omnidirectional mobile manipulator system is controlled to track a desired trajectory with constant desired velocity. A distributed control method is applied to control the omnidirectional mobile manipulator system that includes two subsystems such as an omnidirectional mobile platform and a manipulator. Two controllers are designed to control two subsystems, respectively. Firstly, based on a tracking error vector between a point of the end-effector and a reference point, a kinematic controller is designed for the end-effector of the manipulator to track a reference point. Secondly, based on a tracking error vector between a target point and a real point of the end-effector, a sliding mode controller based on its dynamic model is designed for the omnidirectional mobile platform to move so that the manipulator tracks the desired posture without its singulariry. The control laws are obtained based on backstepping technique and make the tracking error vectors go to zero asymtotically. The system stability is proved using the Lyapunov stability theory. The simulation results are presented to illustrate the usefulness of the proposed control scheme in the presence uncertainties and external disturbances.
-
Viet-Tuan Dinh,김상봉,Hung Nguyen,신승목,김학경,변기식 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.1
In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First, a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders are used. The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.
-
Tuan Dinh Viet,Phuc Thinh Doan,Nguyen Hung,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.7
This paper proposes a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction. The OMMS is separated into two subsystems, a three-wheeled omnidirectional mobile platform (OMP) and a selective compliant articulated robot for assembly (SCARA) type of manipulator. Therefore, two controllers are designed to control the OMP and the manipulator system. Firstly, based on a kinematic modeling of the manipulator, a kinematic controller (KC), combined with an integral sliding mode controller (ISMC), is designed for the end-effector of the manipulator to track a desired trajectory with the desired angular velocity vector of links. Secondly, a differential sliding mode controller (DSMC) based on a dynamic modeling of the OMP with force external disturbances is proposed to obtain control inputs moving the OMP so that the manipulator tracks the desired posture without singularity. The system stability is proven using Lyapunov stability theory. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controllers in the presence of disturbance and friction.
-
김상봉,Tuan Dinh Viet,임재성,김학경,Nguyen Hung 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.6
In this paper, a new tracking controller that integrates a kinematic controller (KC) with an integral sliding mode dynamic controller (ISMC) is designed for an omnidirectional mobile platform (OMP) to track a desired trajectory at a desired velocity. First, a posture tracking error vector is defined, and a kinematic controller (KC) is chosen to make the posture tracking error vector convergent to zero asymptotically. Second, an integral sliding surface vector is defined based on the angular velocity tracking error vector and its integral term. An integral sliding mode dynamic controller (ISMC) is de-signed to make the integral sliding surface vector and the angular velocity tracking error vector con-vergent to zero asymptotically. The above controllers are obtained based on the Lyapunov stability theory. To implement the designed tracking controller, a control system is developed based on PIC18F452. A scheme for measuring the posture tracking error vector using a camera sensor combined with an angular sensor is introduced. The simulation and experimental results are presented to illustrate the effectiveness and applicability of the proposed tracking controller.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
