서지주요정보
이동 로보트의 조타제어기 설계와 직선추종 주행실험에 관한 연구 = (A) study on the design of steering controller of mobile robot and the experiment of tracking a straight-line trajectory
서명 / 저자 이동 로보트의 조타제어기 설계와 직선추종 주행실험에 관한 연구 = (A) study on the design of steering controller of mobile robot and the experiment of tracking a straight-line trajectory / 조덕영.
저자명 조덕영 ; Cho, Duck-Young
발행사항 [서울 : 한국과학기술원, 1987].
Online Access 원문보기 원문인쇄

소장정보

등록번호

4104388

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 8720

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

A mobile robot is required for the inspection, maintenance, construction, in the flexible manufacturing environment. In this thesis, mechanisms of the mobile robot was developed, a steering controller was studied, and the performance was checked through experiments. The 4-wheeled mobile robot is steered by the differential steering of 2 drive forewheels which are controlled by the IBM PC computer. The DC servo motors of forewheels are controlled by the servo motor controller using closed-loop PI control of speed and torque. PWM, and H-typed MOSFET drive are employed as foreward path, and the incremental encoder and F/V converter as feedback. The trajectory of mobile robot is controlled by a beacon navigation system, and an odometric navigation system. The experiments of tracking a straight-line trajectory are practiced in 3 ways; that is, (1) by the independent speed control, (2) by the computer-compensation speed control, and (3) by 1 beacon-tracking error compensation speed control. The experimental results are measured in terms of the lateral tracking error, the orientation error, and the speeds of 2 drive wheels. The tracking errors are occurred in actual running by 60-70[cm] after 2 m-long travel at the method (1), and by 4-10[cm] at the method (2). But the experiments at the method (3) are not succeeded due to system design problems. The tracking error is dependent on the control algorithm, sampling time, programmable gains, and road conditions.

서지기타정보

서지기타정보
청구기호 {MPE 8720
형태사항 [vii], 105 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A, 이동로보트의 동력학(Dynamics). - B, 주행 절대좌표 검출. - C, 직선주행 프로그램
저자명의 영문표기 : Duck-Young Cho
지도교수의 한글표기 : 조형석
지도교수의 영문표기 : Hyung-Suck Cho
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 40-41
주제 Automatic tracking.
Navigation.
Robots --Control systems.
Servomechanisms.
이동 로봇. --과학기술용어시소러스
궤도 제어. --과학기술용어시소러스
서보 모터. --과학기술용어시소러스
항법. --과학기술용어시소러스
PWM. --과학기술용어시소러스
Mobile robots.
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