유비쿼터스 센서 네트워크기반 조명로봇 제어

Abstract

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are located. at the base frame to control its two tilting angles and its one-DOF zoom in-and-out motion for a localized light. And ubiquitous sensors installed at environment are used to detect the location of the human body. The kinematic model of this device is derived and the prototype has been developed. A test room equipped with nine PIR sensors, a Zigbee, and one robotic lamp has beed developed. The performance of this device was verified through experiments.