Safety Control for Turnover Avoidance of a Tracked Mobile Robot using Stability Indices

• 영문명: Safety Control for Turnover Avoidance of a Tracked Mobile Robot using Stability Indices
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: J. H. Lee J. B. Park B. H. Lee
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.1, 62~73쪽, 전체 12쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.03.01

영문 초록

  This paper proposes a safety control method for a teleoperated mobile robot traveling on unknown and uneven terrain. A terrain sensor module equipped at the front of the mobile robot is developed to obtain information of front terrain. The rollover and pitchover stability indices are suggested to set up the control region for avoiding rollover and pitch over using information of front terrain and traveling information of the robot. The turnover stability space with the rollover and pitch over stability indices is presented to control for avoiding turnover effectively. In order to compensate the inconsistency between the velocity command of an operator and the actual velocity of the robot, a force reflection technique with a force feedback joystick is employed. Experiments were carried out with the ROBHAZ-DT mobile robot and the feasibility and effectiveness of the proposed method was verified.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. SYSTEM CONFIGURATION AND BASIC ASSUMPTIONS
Ⅲ. TURNOVER STABILITY SPACE
Ⅳ. TURNOVER AVOIDANCE ALGORITHM
Ⅴ. INCONSISSTENCY COMPENSATION BETWEEN COMMAND AND MOTION
Ⅵ. EXPERIMENTAL RESULTS AND DISCUSSION
Ⅶ. CONCLUSION
Ⅷ. ACKNOWLEDGEMENT
Ⅸ. REFERENCES

키워드

turnover avoidance algorithm turnover stability space inconsistency compensation