직진 주행 성능 향상을 위한 다중 이동 로봇의 새로운 바퀴 배치

학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 주종남.다중 이동 로봇은 2차원 구동 평면에서 3자유도를 가지며 어느 방향으로나 회전 및 이동이 자유로운 로봇이다. 본 논문에서는 다중 이동 로봇의 직진 주행 성능을 향상시키기 위해 새로운 바퀴 배치를 가지는 다중 이동 로봇을 제안한다. 새롭게 제안된 다중 이동 로봇은 바퀴의 회전방향이 로봇의 질량중심에서 원주방향을 향하는 바퀴 배치를 가지는 기존의 다중 이동 로봇과 달리 바퀴의 회전방향이 로봇의 질량중심을 향하는 바퀴 배치를 가지고 있다. 새롭게 제안된 다중 이동 로봇은 이러한 바퀴 배치로 인하여 직진 주행 시에 로봇의 회전 모멘트가 생성되지 않아 제어가 간단하다. 또한, 3개의 바퀴를 모두 구동시킬 수 있는 장점으로 인해 직진 주행 성능이 뛰어날 뿐만 아니라 기존의 다중 이동 로봇과는 달리 부가적으로 생성되는 저항이 없어 추가적으로 장착해야 할 부품 수도 줄일 수 있다. 제안된 다중 이동 로봇과 기존의 다중 이동 로봇의 직진 주행 성능을 비교하기 위해서 마찰실험을 통하여 다중 이동 로봇이 주행 시에 필연적으로 발생하는 마찰과 미끄러짐을 고려한 동적 모델링을 이끌어 내었다. 이끌어낸 로봇의 동적 모델링을 이용해 두 다중 이동 로봇의 직진 주행을 시뮬레이션을 하였으며 그 결과 새롭게 제안된 다중 이동 로봇의 직진 주행 성능이 1.5배 상향된 것을 확인할 수 있었다. 또한 이를 검증하기 위해 실제 제작된 다중 이동 로봇과 초고속 카메라를 이용해 실제 다중 이동 로봇의 주행과 시뮬레이션 결과를 비교하였다. 그 결과, 마찰실험을 이용하여 이끌어낸 로봇의 동적 모델링이 실제의 다중 이동 로봇의 주행과 일치하는 것을 확인할 수 있었으며 새롭게 제안된 다중 이동 로봇이 기존의 다중 이동 로봇보다 직진 주행 성능이 우수하다는 것을 확인할 수 있었다.국문 초록 ⅰ 목차 ⅲ 그림 목차 ⅴ 표 목차 ⅶ 제 1 장 서론 1 1.1 연구 배경 1 1.2 로봇의 구동력과 미끄러짐 3 1.3 연구 목적 5 제 2 장 바퀴의 동적 모델링 10 2.1 바퀴의 구동력과 미끄러짐 10 2.2 바퀴의 구동방정식 11 2.3 마찰실험 장치 구성 13 2.4 마찰실험 결과 16 제 3 장 로봇의 동적 모델링 17 3.1 기존의 다중 이동 로봇의 동적 모델링 17 3.2 새로운 다중 이동 로봇의 동적 모델링 19 3.3 로봇의 동적 모델링의 시뮬레이션 및 결과 20 제 4 장 검증 24 4.1 검증을 위한 실험 장치 구성 24 4.2 검증 실험 결과 25 제 5 장 결론 29 참고 문헌 31 Abstract 34Maste

Dynamics and vibration analysis of the interface between a non-rigid sphere and omnidirectional wheel actuators

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Mobile Robot Localization Based on Kalman Filter

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