서지주요정보
인터넷 기반 퍼스널 로봇 시스템의 제어 구조 설계 = Control architecture design of internet-based personal robot systems
서명 / 저자 인터넷 기반 퍼스널 로봇 시스템의 제어 구조 설계 = Control architecture design of internet-based personal robot systems / 한국현.
저자명 한국현 ; Han, Kuk-Hyun
발행사항 [대전 : 한국과학기술원, 1999].
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소장정보

등록번호

8009799

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 99115

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초록정보

This thesis proposes a novel control architecture for internet-based personal robot systems. The personal robot considered in this thesis is a kind of service robots which can be used for a person's convenience in the house. It has a wireless LAN system for the internet remote control. Users can control the personal robot using a simulator located at local sites. Since the internet time delay is affected by the number of nodes and the internet loads, it is variable and unpredictable so that a large internet delay makes some control inputs distorted. In order to control the personal robot without the influence of the internet delay, a novel internet control architecture is designed. This architecture guarantees that the robot can avoid obstacles, and reduces the path error and the time difference between the virtual robot in a local site and the real robot in a remote site. It consists of a posture estimator based on the posture information from the remote site, a command filter constructed by a command queue and a command generator, a path generator for each sample time and a path-following controller to recover the time difference. The difference between a virtual environment in local sites and a real environment in remote sites can increase a path error between a virtual robot and a real robot. To solve this problem, a virtual environment supervisor with a sensor feedback from the real robot is proposed. The results of simulations and experiments demonstrate the effectiveness and applicability of the proposed internet control architecture.

서지기타정보

서지기타정보
청구기호 {MEE 99115
형태사항 [iii], 80 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Kuk-Hyun Han
지도교수의 한글표기 : 김종환
지도교수의 영문표기 : Jong-Hwan Kim
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학과,
서지주기 참고문헌 : p. 78-80
주제 인터넷 제어
퍼스널 로봇
원격 제어
서비스 로봇
인터넷 로보틱스
Internet control
Personal robot
Remote control
Service robot
Internet robotics
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