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국내 최대 기계·건설 공학연구정보
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  • Virtuous6D
  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 외바퀴 로봇 다이나믹 모델과 성능 개선
    제목(영문) Dynamic Modeling and Performance Improvement of a Unicycle Robot
    저자 김성하 (Sung-ha Kim ,Pusan National University ) ▷공저자네트워크등록하기
    이재호 (Jae-oh Lee ,Pusan National University ) ▷공저자네트워크등록하기
    황종명 (Jong-Myung Hwang ,Pusan National University ) ▷공저자네트워크등록하기
    안부환 (Bu-Hwan Ahn ,Pusan National University ) ▷공저자네트워크등록하기
    이장명 (Jang-Myung Lee ,Pusan National University ) ▷공저자네트워크등록하기
    초록

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    초록(영문)

    Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

    keyword unicycle robot, dynamic model, simplify contribution
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 16
    PAGE 1074-1081
    발표년도 2010
    국문File 국문다운로드
    영문File
    • 페이스북아이콘
    • 트위터 아이콘

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