http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
오픈소스를 이용한 실시간 EtherCAT 모터 제어 시스템의 개발
경윤진(Yun Jin Kyung),최승욱(Seung Uk Choi),전성배(Seong Bae Jeon),최동일(Dong Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Recently, robot systems are being used together in real life with natural movements such as life. Such robot systems are composed of many electronic controllers and sensors, and securing real-time performance in complex control methods such as balance control is emerging as a very important problem. Therefore, we propose a framework that enables real-time EtherCAT master to be implemented using Xenomai, a Linux patch that supports real-time programming with the EtherCAT library SOEM, to set a constant period and send control commands. In addition, VESCular6, an open-source motor controller, is introduced as an EtherCAT slave device using EasyCAT Board.
오픈소스를 이용한 실시간 EtherCAT 모터 제어 시스템의 개발
경윤진(Yun Jin Kyung),최승욱(Seung Uk Choi),전성배(Seong Bae Jeon),최동일(Dong Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Recently, robot systems are being used together in real life with natural movements such as life. Such robot systems are composed of many electronic controllers and sensors, and securing real-time performance in complex control methods such as balance control is emerging as a very important problem. Therefore, we propose a framework that enables real-time EtherCAT master to be implemented using Xenomai, a Linux patch that supports real-time programming with the EtherCAT library SOEM, to set a constant period and send control commands. In addition, VESCular6, an open-source motor controller, is introduced as an EtherCAT slave device using EasyCAT Board.
모델예측제어를 이용한 이족 보행 로봇의 Stand-Up 모션 제어
허성용(Seong-Yong Hur),김다윗(David Kim),경윤진(Yun-Jin Kyung),최동일(Dong-Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
This paper proposes a method to model a robot as a inverted pendulum system of a time-variant system and apply model predictive control to control the standing motion of a bipedal robot stably. The robot used a 12-DoF bipedal robot and modeled the behavior of standing up on two feet on a flat surface as a point mass with a link structure without mass. Model predictive control was applied to stably control the modeled inverted pendulum. As a result of simulating the model predictive control with the do-mpc library, the inverted pendulum was stably controlled, and based on this, the robots joint angle was calculated by solving the robots inverse kinematics. As a result of Gazebo simulation using the calculated joint angle, it was confirmed that the robot was stably controlled and was almost consistent with the do-mpc simulation result, and the performance of the algorithm was verified.
모델예측제어를 이용한 이족 보행 로봇의 Stand-Up 모션 제어
허성용(Seong-Yong Hur),김다윗(David Kim),경윤진(Yun-Jin Kyung),최동일(Dong-Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
This paper proposes a method to model a robot as a inverted pendulum system of a time-variant system and apply model predictive control to control the standing motion of a bipedal robot stably. The robot used a 12-DoF bipedal robot and modeled the behavior of standing up on two feet on a flat surface as a point mass with a link structure without mass. Model predictive control was applied to stably control the modeled inverted pendulum. As a result of simulating the model predictive control with the do-mpc library, the inverted pendulum was stably controlled, and based on this, the robots joint angle was calculated by solving the robots inverse kinematics. As a result of Gazebo simulation using the calculated joint angle, it was confirmed that the robot was stably controlled and was almost consistent with the do-mpc simulation result, and the performance of the algorithm was verified.