2륜 세그웨이 로봇의 ARS 제어

• 영문명: Optimal ARS Control of a Two-Wheel Segway Robot
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 배동석(Dong-Seog Bae)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제17권 2호, 51~61쪽, 전체 11쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2012.06.30

영문 초록

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, i.e., mostly focuson the compensation of gyroscope signals. This newly propose d algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

목차

Ⅰ. 서 론

Ⅱ. 로봇 메커니즘 모델링

Ⅲ. LQR 제어기설계

Ⅳ. 경사면 등반

Ⅴ. Attitude reference system

Ⅵ. 실험 및 검토

Ⅶ. 결 론

키워드

Two-Wheel Mobile(2륜구동) Inverted Pendulum(역진자) Robot(로봇) Robust Control(강인제어) Climbing Ability(등반능력)