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흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발
김황(Hwang Kim),김동목(Dongmok Kim),양호준(Hojoon Yang),이규희(Kyouhee Lee),서근찬(Kunchan Seo),장도영(Doyoung Chang),김종원(Jongwon Kim) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. While each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 ㎜ in width and length, respectively, and 200 ㎜ in height. Its mass is slightly over 14 ㎏. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.
김광민(Kwangmin Kim),김민지(Minji Kim),김동목(Dongmok Kim),이동준(Dongjun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
We propose a passivity-based control framework for the excavator with main control valve (MCV). We first derive mathematical model of a 4-way valve, then develop a passivity-based control rule using spool actuation forces as control inputs. The passivity-based control is done in two steps: 1) MCV passifying control and 2) spool actuation control. First, the flow rate of each valve in MCV is decomposed into active flow source and a passive dissipation, and valve passifying control is presented based on this structure. Second, we present a spool actuation input to control the spool position to the desired value. In addition, we compensate the self-weight in order to make the passivity of the excavator less conservative. Finally, we propose a passivity-based auto-stop function of excavator when it collides with an underground obstacle.
박민철(Mincheol Park),홍희승(Heeseung Hong),김동목(Dongmok Kim) 한국자동차공학회 2022 한국자동차공학회 부문종합 학술대회 Vol.2022 No.6
Nowadays, the shortage of manpower is intensifying due to the aging of construction sites. In addition, as construction work increases in extreme environments, it is necessary to secure safety. In this situation, the automation of unmanned construction machines presents a solution to the problem of manpower shortage and securing safety. In this paper, to solve these problems, we describe our experiments in scenarios with steep slopes and obstacles.
건설기계 자율주행을 위한 칼만필터 기반 시스템 상태 추정
박민철(Mincheol Park),홍희승(Heeseung Hong),강민성(Monsung Kang),김동목(Dongmok Kim) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6
Nowadays, construction sites lack skilled workers due to aging. In addition, as construction work increases in extreme environments, safety must be considered. The automation of construction vehicles provides a solution to this problem. However, this automation requires a localization function to accurately estimate the state of the vehicle and a perception function to estimate the surrounding state. This paper presents sensor fusion and object tracking based on kalman filter to improve the performance of localization and perception functions of unmanned construction vehicles. The algorithm was evaluated using experimental datas and the experimental result shows good performances of state estimator.
무인 굴착기 버츄얼 검증을 위한 자율 작업 시뮬레이션 기술 개발
이철훈(Chulhoon Lee),이제필(Jepil Lee),박흥근(Heungkeun Park),김창묵(Changmook Kim),김동목(Dongmok Kim) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In addition to the recent development of autonomous vehicles, technologies for automation and unmanned construction equipment are being actively developed in order to increase work efficiency in the field of construction site as well as solve the problem of lack of skilled workers in construction equipment operation. Doosan Infracore is actively developing unmanned/automated equipment and site management solution called X-center as shown in Concept-X demonstrations in 2019. As part of this solution development, we are also developing a simulation technology for virtual verification of autonomous equipment. The unmanned excavator recognizes the work terrain and the surrounding environment of the equipment from the results sensed by Lidar and SVC (Stereo Vision Camera), and trajectory planner controller generates the work command of the excavator according to the work mode such as digging and loading, trenching and grading. Since the automated work is carried out in several stages and the system configuration is complicated, virtual verification through simulation before the actual vehicle test can increase the development efficiency and product reliability. In this paper, we developed the simulation technology and the process for autonomous Excavator by coupling perception system, trajectory planner controller, vehicle dynamics model, and virtual sensor and terrain.