KR20000047179A - System for controlling traces and attitude of movable robot by using hybrid system - Google Patents

System for controlling traces and attitude of movable robot by using hybrid system Download PDF

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Publication number
KR20000047179A
KR20000047179A KR1019980063972A KR19980063972A KR20000047179A KR 20000047179 A KR20000047179 A KR 20000047179A KR 1019980063972 A KR1019980063972 A KR 1019980063972A KR 19980063972 A KR19980063972 A KR 19980063972A KR 20000047179 A KR20000047179 A KR 20000047179A
Authority
KR
South Korea
Prior art keywords
state
attitude
movable robot
variable
traces
Prior art date
Application number
KR1019980063972A
Other languages
Korean (ko)
Inventor
Hyo Yeong Son
Original Assignee
Daewoo Telecom Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daewoo Telecom Ltd filed Critical Daewoo Telecom Ltd
Priority to KR1019980063972A priority Critical patent/KR20000047179A/en
Publication of KR20000047179A publication Critical patent/KR20000047179A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Abstract

PURPOSE: A system for controlling traces and attitude of movable robot by using hybrid system is provided, by which a movable robot starts from a desired position and attitude and reaches to a desired position and attitude within the minimum distance by means of control of traces and attitude through a hybrid control considering a restrictive condition of the kinematics of machinery in a robot. CONSTITUTION: A system for controlling traces and attitude of movable robot by using hybrid system, which is constituted to control the respective wheels of a movable robot based on a predetermined control signal, comprises a state information storing device(52) for storing a position information by which an operation state of the movable robot is changed; a dispersive operation control device(60) which calculates a state change position based on a current position information and a reaching position information input by a user and stores it to the state information storing device(52) while calculates a variable of the state in a current position based on the state information applied from a state information determining device(51); a state variable converting device(53) for converting a state variable data applied from the dispersive operation control device(60) to an analog variable; a continuous operation control device(40) which controls the wheels of the movable robot based on the analog variable applied from the state variable converting device(53) and applies a variable changing in response to a moving traces to a state information determining device(51); and a state information determining device(51) which periodically identifies the variables applied from the continuous operation control device(40) and then, if the current position is identical with a state change position stored in the state information storing device(52), applies a state change data to the dispersive operation control device(60).
KR1019980063972A 1998-12-31 1998-12-31 System for controlling traces and attitude of movable robot by using hybrid system KR20000047179A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019980063972A KR20000047179A (en) 1998-12-31 1998-12-31 System for controlling traces and attitude of movable robot by using hybrid system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019980063972A KR20000047179A (en) 1998-12-31 1998-12-31 System for controlling traces and attitude of movable robot by using hybrid system

Publications (1)

Publication Number Publication Date
KR20000047179A true KR20000047179A (en) 2000-07-25

Family

ID=19570485

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019980063972A KR20000047179A (en) 1998-12-31 1998-12-31 System for controlling traces and attitude of movable robot by using hybrid system

Country Status (1)

Country Link
KR (1) KR20000047179A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541412A (en) * 2016-10-19 2017-03-29 北京光年无限科技有限公司 The changing method of intelligent robot status mechanism, intelligent robot and device
KR20210009886A (en) * 2019-07-18 2021-01-27 김태욱 System for controlling Wheel dependent Steering/Driving and method therefor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5073749A (en) * 1989-06-22 1991-12-17 Shinko Electric Co., Ltd. Mobile robot navigating method
US5657226A (en) * 1990-02-05 1997-08-12 Caterpillar Inc. System and method for causing an autonomous vehicle to track a path

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5073749A (en) * 1989-06-22 1991-12-17 Shinko Electric Co., Ltd. Mobile robot navigating method
US5657226A (en) * 1990-02-05 1997-08-12 Caterpillar Inc. System and method for causing an autonomous vehicle to track a path

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541412A (en) * 2016-10-19 2017-03-29 北京光年无限科技有限公司 The changing method of intelligent robot status mechanism, intelligent robot and device
CN106541412B (en) * 2016-10-19 2019-04-26 北京光年无限科技有限公司 Switching method, intelligent robot and the device of intelligent robot status mechanism
KR20210009886A (en) * 2019-07-18 2021-01-27 김태욱 System for controlling Wheel dependent Steering/Driving and method therefor

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