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A Study on a Mobile Platform-Manipulator
판탄둥(Tan Tung Phan),충탄람(Tan Lam Chung),뇨만융(Manh Dung Ngo),김상봉(Sang Bong Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper discusses about the decentralized control method for a mobile manipulator, which uses for welding process in many industrial fields. In this paper, the mobile manipulator is divided into two subsystems that are the manipulator and the mobile platform. For this reason, a simple decentralized control method for two subsystems is proposed. The task of the mobile manipulator is the end-effector of the manipulator tracks along a seam and the mobile platform moves to maintain the initial configuration of the manipulator in order to avoiding the singularity of the manipulator in the welding process. Two controllers for the mobile-platform and the manipulator are designed, respectively and they are obtained from the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results have proved the effectiveness of the proposed controllers.
Control of Mobile Manipulator for Tracking Vertical Smooth Welding Trajectory
트란디엔푹(Thien Phuc Tran),충탄람(Tan Lam Chung),김학경(Hak Kyeong Kim),김상봉(Sang Bong Kim),오명석(Myung-Suck Oh) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper proposed an adaptive controller based on the back stepping concept for a two-wheel welding mobile manipulator to track a smooth curved welding path in vertical. To design a tracking controller, the tracking errors are defined between the welding point of torch and the reference point moving at a specified constant welding speed on a vertical welding path. The error for auxiliary velocity is also concerned in controller design. Both kinematic and dynamic modelings of the mobile manipulator are introduced. It is assumed for tracking controller design that the platform moves on the path paralleled for y-z plane. So, the velocity component on x-direction of the welding point equals to zero in spite of the rotation of the manipulator links. The simulations are performed to show the effectiveness of the proposed controller.
Obstacle Avoidance of A Mobile Robot Using A Calibrated Computer Vision System
트란안킴(Anh Kim Tran),김광주(Kwang Ju Kim),김학경(Hak Kyeong Kim),충탄람(Tan Lam Chung),김상봉(Sang Bong Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The obstacle avoidance task that is assigned to a mobile robot is addressed in this paper. A path planning method, namely polynomial path planning approach, is employed to generate a collision-free trajectory. It is clear that the path varies according to environment structure. Then, by applying a nonlinear feedback control law, the MR is able to track the smooth polynomial path in order to reach a target point. The information needed for the designed controller can be obtained via a computer visioning system with a ceiling-mounted USB camera. Because the computer vision system is capable to determine the position of any interesting points or objects in the work-space, the system can serve for MR's navigation and localization tasks as well. The practical realization is done through the hardware and software design using PICI6F877 chip. That is, the vision and navigation controls are parts of high level while the device control with PIC chips are considered as low level controllers. The low level control is known as a PIC-based servo controller communicating with its high level counterpart using wireless protocol. Also, the experimental results show quite good performance with acceptable tracking errors.