RISS 검색 - 국내학술지논문 상세보기

다국어 초록 (Multilingual Abstract)

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

목차 (Table of Contents)

Abstract
I. 서론
II. 로봇의 구성과 무게중심변화
III. 모델링과 제어기설계
IV. 시뮬레이션 및 실험 결과

Abstract
I. 서론
II. 로봇의 구성과 무게중심변화
III. 모델링과 제어기설계
IV. 시뮬레이션 및 실험 결과
V. 결론
REFERENCES

참고문헌 (Reference)

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2 이준민, "자율주행 모바일 역진자의 비주얼서보잉에 대한 연구" 제어.로봇.시스템학회 논문지 19 (3) : 240 ~ 247 , 2013

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