KR101063889B1 - 외바퀴 로봇의 제어시스템 및 그 설계방법 - Google Patents
외바퀴 로봇의 제어시스템 및 그 설계방법 Download PDFInfo
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- KR101063889B1 KR101063889B1 KR1020080133489A KR20080133489A KR101063889B1 KR 101063889 B1 KR101063889 B1 KR 101063889B1 KR 1020080133489 A KR1020080133489 A KR 1020080133489A KR 20080133489 A KR20080133489 A KR 20080133489A KR 101063889 B1 KR101063889 B1 KR 101063889B1
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- South Korea
- Prior art keywords
- controller
- robot
- control system
- model
- balance
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 238000005381 potential energy Methods 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001144 postural effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000007847 structural defect Effects 0.000 description 1
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Classifications
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- 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
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
- 로봇 몸체와, 상기 로봇 몸체의 하부에 회전운동하도록 설치되어 주행방향을 따라 구름운동하는 하나의 바퀴와, 상기 바퀴의 주행방향을 좌우로 가변시키는 조향유닛과, 상기 로봇 몸체의 상측에 설치되어, 좌우 방향으로 선택적으로 발생하는 회전관성력에 의해 본체의 좌우 방향 균형을 유지하도록 하는 회전자를 포함하는 외바퀴 로봇의 운행 및 자세를 제어하는 제어시스템에 있어서,상기 제어시스템은, 좌우 자세의 균형을 유지하는 자세제어기와, 속도를 제어하는 속도제어기와, 자율주행을 위한 궤적제어기를 포함하여 구성된 것을 특징으로 하는 외바퀴 로봇의 제어시스템.
- 제1항에 있어서, 상기 자세제어기에 연결되어 중력에 의한 토크, 또는 코리올리 힘 및 구심력에 의한 외란요소를 보상하는 섭동보상기를 더 포함하여 구성된 것을 특징으로 하는 외바퀴 로봇의 제어시스템.
- 바퀴와 로봇 몸체와 회전자 각각에 대한 운동에너지와 위치에너지를 산출하는 제1단계;외바퀴 로봇의 Lagrangian 운동방정식을 도출하는 제2단계;상기 운동방정식을 좌우 자세균형을 제어하기 위한 좌우자세균형모델과, 로봇의 운전 속도를 제어하기 위한 운전모델과, 궤적 추종을 제어하기 위한 자율주행모델을 포함하는 상태 모델로 분리하는 제3단계;상기 상태 모델별로 독립 제어기를 설계하고, 각각의 독립 제어기들을 통합하는 제4단계를 포함하여 구성된, 제1항의 외바퀴 로봇 제어시스템을 설계하는 방법.
- 삭제
- 제3항에 있어서, 상기 제4단계는, 상기 좌우자세균형모델에 대하여 자세균형을 위한 제어 파라미터(parameter)를 갖는 자세제어기와, 상기 운전모델에 대한 속도제어기 및, 자율주행모델에 대한 궤적제어기를 설계하고, 상기 자세제어기와 속도제어기 및 궤적제어기를 통합하여 하나의 협동 제어 시스템을 구축하는 것을 특징으로 하는 외바퀴 로봇 제어시스템의 설계방법.
- 제5항에 있어서, 상기 자세제어기의 설계시 중력에 의한 토크, 또는 코리올리 힘 및 구심력에 의한 외란을 보상하기 위한 섭동보상기를 설계하는 것을 특징으로 하는 외바퀴 로봇 제어시스템의 설계방법.
- 제3항에 있어서, 상기 Lagrangian 운동방정식은 케인(kane) 방법으로 얻어지는 것을 특징으로 하는 외바퀴 로봇 제어시스템의 설계방법.
- 삭제
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020080133489A KR101063889B1 (ko) | 2008-12-24 | 2008-12-24 | 외바퀴 로봇의 제어시스템 및 그 설계방법 |
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KR1020080133489A KR101063889B1 (ko) | 2008-12-24 | 2008-12-24 | 외바퀴 로봇의 제어시스템 및 그 설계방법 |
Publications (2)
Publication Number | Publication Date |
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KR20100074929A KR20100074929A (ko) | 2010-07-02 |
KR101063889B1 true KR101063889B1 (ko) | 2011-09-08 |
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KR1020080133489A Expired - Fee Related KR101063889B1 (ko) | 2008-12-24 | 2008-12-24 | 외바퀴 로봇의 제어시스템 및 그 설계방법 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101464441B1 (ko) * | 2013-06-28 | 2014-11-24 | 재단법인 인천광역시정보산업진흥원 | 균형시스템 및 그 방법 |
KR101870427B1 (ko) * | 2017-01-23 | 2018-06-22 | 네이버랩스 주식회사 | 자율주행 플랫폼 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101131125B1 (ko) * | 2010-02-22 | 2012-03-26 | 부산대학교 산학협력단 | 외바퀴 로봇 |
CN105171759B (zh) * | 2015-10-13 | 2017-03-29 | 桂林电子科技大学 | 摆臂式独轮走钢丝机器人 |
-
2008
- 2008-12-24 KR KR1020080133489A patent/KR101063889B1/ko not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101464441B1 (ko) * | 2013-06-28 | 2014-11-24 | 재단법인 인천광역시정보산업진흥원 | 균형시스템 및 그 방법 |
KR101870427B1 (ko) * | 2017-01-23 | 2018-06-22 | 네이버랩스 주식회사 | 자율주행 플랫폼 |
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KR20100074929A (ko) | 2010-07-02 |
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