http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Wall-Following Control of a Two-Wheeled Mobile Robot
Tan Lam Chung,Trong Hieu Bui,Sang Bong Kim,Myung Suck Oh 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.8
Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall. This paper proposes wall-following controllers based on Lyapunov function candidate for a two- wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon's observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.
Decentralized Control Design for Welding Mobile Manipulator
Tan Tung Phan,Tan Lam Chung,Manh Dung Ngo,Hak Kyeong Kim,Sang Bong Kim 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.3
This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator in this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems With the idea that the manipulator can avoid the singularities by keeping its initial configuration m the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system The simulation and experimental results show the effectiveness of the proposed controllers.
Sliding Mode Control of Two-Wheeled Welding Mobile Robot for Tracking Smooth Curved Welding Path
Tan Lam Chung,Trong Hieu Bui,Tan Tien Nguyen,Sang Bong Kim 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.7
In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.
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.
Sliding Mode Control of Two-Wheeled Welding Mobile Robot for Tracking Smooth Curved Welding Path
Chung, Tan-Lam,Bui, Trong-Hieu,Nguyen, Tan-Tien,Kim, Sang-Bong The Korean Society of Mechanical Engineers 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.7
In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.