http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이동로봇의 객체추종 경로제어를 위한 와이어 구동식 위치 센서
심준혁(Junhyuk Sim),김재동(Jaedong Kim),윤석훈(Seokhun Yoon),송영은(Young Eun Song),장형준(Hyeongjun Chang),정회룡(Hoeryong Jung) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.10
This paper proposes a wire-actuated position sensor for navigation control of a mobile robot. It provides human-robot interface that allows to control intuitively the movement of mobile robot to follow the user. The wire-actuated position sensor is composed of position sensing module, angle sensing module, and a wire. The wire is wound inside the sensor, and it released when the user pulls the wire to his/her side. Then, the sensor measures the distance from the sensor to the end of the wire and angle between the axis toward the front of the sensor and the wire. The distance and angle represent the position of the user with respect to the sensor attached coordinate, and these are used to control the moving trajectory of the robot to follow the recognized position of the human. We designed and fabricated the sensor prototypes and conducted experiments to evaluate the performance of the sensor. The experimental results show that the maximum measurement error was less than 2.5% of the measured distance and 3° for entire measurable range of the sensor.