147 research outputs found

    DESIGN AND DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE BASE FOR A SOCIAL ROBOT

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    Master'sMASTER OF ENGINEERIN

    Calibration of Mobile Robot with Single Wheel Powered Caster

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    ํ•™์œ„๋…ผ๋ฌธ(์„์‚ฌ) -- ์„œ์šธ๋Œ€ํ•™๊ต๋Œ€ํ•™์› : ์œตํ•ฉ๊ณผํ•™๊ธฐ์ˆ ๋Œ€ํ•™์› ์ง€๋Šฅ์ •๋ณด์œตํ•ฉํ•™๊ณผ, 2022. 8. ๋ฐ•์žฌํฅ.๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ์ œ์–ด์™€ ์˜ค๋„๋ฉ”ํŠธ๋ฆฌ์— ํฐ ์˜ํ–ฅ์„ ์ฃผ๋Š” ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๋ณด์ •ํ•˜๋Š” ๊ธฐ๊ตฌํ•™์  ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์€ ๋‹ค์–‘ํ•œ ์ข…๋ฅ˜์˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์—์„œ ์—ฐ๊ตฌ๋˜์–ด์™”๋‹ค. ๊ธฐ๊ตฌํ•™์  ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์€ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ์ข…๋ฅ˜์— ์˜์กด์ ์ด๊ธฐ ๋•Œ๋ฌธ์— ๊ฐ ์ข…๋ฅ˜์— ๋งž๋Š” ๊ธฐ๊ตฌํ•™์  ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์ด ํ•„์š”ํ•˜๋‹ค. ์บ์Šคํ„ฐ ๊ธฐ๋ฐ˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ๊ฒฝ์šฐ ๋ณต์žกํ•œ ๊ธฐ๊ตฌํ•™์  ํ˜•์ƒ ๋•Œ๋ฌธ์— ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๊ฐ€ ๋ถ€์ •ํ™•ํ•œ ๊ฒฝ์šฐ ์ œ์–ด ์‹œ ์‘๋ ฅ์„ ๋ฐœ์ƒ์‹œ์ผœ ๋ฏธ๋„๋Ÿฌ์ง์„ ์œ ๋ฐœํ•˜๊ธฐ ๋•Œ๋ฌธ์— ์ •ํ™•ํ•œ ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ์•„๋Š” ๊ฒƒ์ด ์ค‘์š”ํ•˜๋‹ค. ์บ์Šคํ„ฐ ๊ธฐ๋ฐ˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์„ ์œ„ํ•œ ๊ธฐ๊ตฌํ•™์  ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์€ ํŠน์ • ๋ชจ๋ธ์ธ ๋ถ„ํ•  ์บ์Šคํ„ฐ์— ํ•œํ•˜์—ฌ ์—ฐ๊ตฌ๊ฐ€ ์ง„ํ–‰๋˜์—ˆ๋‹ค. ์ด์ „ ์—ฐ๊ตฌ๋Š” ์บ์Šคํ„ฐ ๋ฐ”ํ€ด๋ฅผ ๊ณ ์ •ํ•œ ๊ฒฝ์šฐ ๋ฐ”ํ€ด์™€ ๋ฐ”๋‹ฅ ์‚ฌ์ด์— ํšŒ์ „์ด ์ผ์–ด๋‚˜๋ฉด ์•ˆ ๋˜๊ธฐ ๋•Œ๋ฌธ์— ๋ฐ”๋‹ฅ๊ณผ 1์  ์ ‘์ด‰์„ ํ•˜๋Š” ๋‹จ์ผ ๋ฐ”ํ€ด ์บ์Šคํ„ฐ์—๋Š” ์ ์šฉํ•  ์ˆ˜ ์—†๋‹ค. ๋ณธ ๋…ผ๋ฌธ์€ ๋‹จ์ผ ๋ฐ”ํ€ด ์บ์Šคํ„ฐ ๊ธฐ๋ฐ˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ์ •ํ™•ํ•œ ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ตฌํ•˜๋Š” ๊ธฐ๊ตฌํ•™์  ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์„ ์ œ์•ˆํ•œ๋‹ค. ์ œ์•ˆํ•˜๋Š” ๋ฐฉ๋ฒ•์€ ๋กœ๋ด‡์— ์žฅ์ฐฉ๋œ ์บ์Šคํ„ฐ ๋ชจ๋“ˆ ํ•˜๋‚˜๋ฅผ ๊ณ ์ •ํ•ด ๊ณ ์ •๋œ ๋ฐ”ํ€ด๋ฅผ ๊ธฐ์ค€์œผ๋กœ ๋กœ๋ด‡์ด ํšŒ์ „ํ•˜๋Š” ๊ฒฝ์šฐ ์ƒ๊ธฐ๋Š” ๊ธฐํ•˜ํ•™์  ๊ด€๊ณ„์™€ ๋กœ๋ด‡์˜ ์ด๋™ ์ •๋ณด ๋ฐ ๋ชจํ„ฐ ์—”์ฝ”๋” ์ •๋ณด๋ฅผ ์ด์šฉํ•ด ๋กœ๋ด‡์˜ ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ตฌํ•œ๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹ค์ œ ํ™˜๊ฒฝ์—์„œ ์ง„ํ–‰๋œ ์‹คํ—˜์„ ํ†ตํ•ด ์ œ์•ˆํ•˜๋Š” ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์„ ๊ฒ€์ฆํ•˜๊ณ  ์ด ๋ฐฉ๋ฒ•์ด ์ •ํ™•ํ•œ ๊ธฐ๊ตฌํ•™์  ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ตฌํ•ด ์˜ค๋„๋ฉ”ํŠธ๋ฆฌ ์ •ํ™•๋„๋ฅผ ํ–ฅ์ƒํ•  ์ˆ˜ ์žˆ์Œ์„ ๋ณด์ธ๋‹ค.Kinematic parameters of mobile robot have a great influence on its odometry and control, so many researches were conducted to find accurate kinematic parameters of mobile robot. Since a kinematic calibration method, for finding accurate kinematic parameters, is dependent on the kinematic type of mobile robot, calibration method for certain type is hard to apply for another type. For caster type mobile robots which has complex kinematic model, kinematic parameters are important since inaccurate kinematic parameters cause internal force which results in wheel slippage, a non-systematic error. Previous study on kinematic calibration for caster type mobile robot proposed a method that can only calibrate double-wheeled caster type mobile robot and not single-wheeled caster type mobile robot. This paper proposes a kinematic calibration method for single-wheeled caster type mobile robot. Proposed method uses geometric relationship and movement information of robot and its motor when the robot rotates around its stationary caster wheel. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.์ œ 1 ์žฅ ์„œ๋ก  1 ์ œ 1 ์ ˆ ์˜ค๋„๋ฉ”ํŠธ๋ฆฌ ์˜ค์ฐจ 1 ์ œ 2 ์ ˆ ์—ฐ๊ตฌ ๋™ํ–ฅ 2 ์ œ 3 ์ ˆ ์—ฐ๊ตฌ ๊ธฐ์—ฌ 5 ์ œ 4 ์ ˆ ๋…ผ๋ฌธ ๊ตฌ์„ฑ 9 ์ œ 2 ์žฅ ASOC ๊ธฐ๋ฐ˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ 10 ์ œ 1 ์ ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ• 10 ์ œ 2 ์ ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํŠน์ง• 11 ์ œ 3 ์žฅ SWPC ๊ธฐ๋ฐ˜ ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ 14 ์ œ 1 ์ ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ• 14 ์ œ 2 ์ ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํŠน์ง• 19 ์ œ 4 ์žฅ ์‹คํ—˜ 21 ์ œ 1 ์ ˆ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ํ™˜๊ฒฝ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ 22 ์ œ 2 ์ ˆ ์‹ค์ œ ํ™˜๊ฒฝ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ 24 ์ œ 3 ์ ˆ ์ฃผํ–‰ ์‹คํ—˜ 25 ์ œ 5 ์žฅ ๊ฒฐ๋ก  33 ์ฐธ๊ณ  ๋ฌธํ—Œ 35 Abstract 39์„

    Motion Control of Holonomic Wheeled Mobile Robot with Modular Actuation

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    This thesis proposes a control scheme for a new holonomic wheeled mobile robot. The platform, which is called C3P (Caster 3 wheels Platform), is designed and built by the Automation Lab., University of Heidelberg. The platform has three driven caster wheels, which are used because of their simple construction and easy maintenance. The C3P has modular actuators and sensors configurations. The robotโ€™s actuation scheme produces singularity difficulties for some wheel steering configuration, described as the following: When all wheels yield the same steering angle value, the C3P cannot be actuated in the direction perpendicular to the wheel velocity vector. The C3P has a modular sensing scheme defined by sensing the steering angle and the wheel angular velocity of each caster wheel. This work has four main contributions 1- developing a controller based on an inverse kinematics solution to handle motion commands in the singular configurations; 2- modeling the C3Pโ€™s forward dynamics of the C3P for the simulation purpose; 3- developing a motion controller based on an inverse dynamics solution; and 4- comparing the C3P with other standard holonomic WMRs. In order to escape singularity condition, the actuated inverse kinematics solution is developed based on the idea of coupling any two wheel velocities to virtually actuate the steering angular velocity of the third wheel. The solution is termed as the Wheel Coupling Equation (WCE). The C3P velocity controller consists of two parts: a) the WCE regulator to avoid singularities and adjust the steering angles to the desired value, and b) the regular PID controller to maintain the reference robot velocities with respect to the floor frame of coordinates. The solution reaches acceptable performance in the simulation examples and in the practical experiments. However, it generates relatively large displacement errors only during the steering angles adjustment period. The Euler-Lagrangian method is used for obtaining the forward dynamic and the inverse dynamic models. The forward dynamic model consists of two equations of motion: the WTD (Wheel Torque Dynamics) to calculate the wheel angular velocities with respect to the actuated wheelsโ€™ torques, and the DSE (Dynamic Steering Estimator) for calculating the steering angles and steering angular velocities corresponding to the angular wheelsโ€™ velocities and accelerations. The inverse dynamics solution defines the forces and torques acting on each actuator and joint. The solution is used in the development of the C3P velocity and position controllers. In comparison to the proposed inverse kinematics solution, the inverse dynamics solution yields less displacement errors. Lyapunov stability analysis is carried out to investigate the system stability for different steering anglesโ€™ combinations. The steering anglesโ€™ values are considered as the disturbances affecting the platform. Finally, a comparison is made between the C3P and three other holonomic wheeled mobile robots configurations. The comparison is based on the simulation results in relation to the following aspects: a) mobility, b) total energy consumed by each robot in a finite interval of time and c) hardware complexity. The C3P platform shows its advantage in the aspects โ€œbโ€ and โ€œcโ€

    Analysis, design, and control of an omnidirectional mobile robot in rough terrain

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    Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaves 49-52).An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this thesis, an investigation of the suitability of an active split offset caster driven omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the drive mechanism are investigated along with guidelines for designing the robot. An optimization method is implemented to explore the design space. These analyses can be used as design guidelines for development of an omnidirectional mobile robot that can operate in unstructured environments. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.by Martin Richard Udengaard.S.M

    Unlimited-wokspace teleoperation

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    Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2012Includes bibliographical references (leaves: 100-105)Text in English; Abstract: Turkish and Englishxiv, 109 leavesTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope
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