여유 자유도를 지닌 전방향 모바일 로봇에 대한 연구
- 여유 자유도를 지닌 전방향 모바일 로봇에 대한 연구
- Other Titles
- Study of Omni-directional mobile robot with kinematic redundancy
- Alternative Author(s)
- Oh, Se-Jae
- Issue Date
- Recently, research on the omni-directional mobile robots have been active. But most of cases it is restricted to minimum mobility and the study of omni-directional mobile robot with redundant mobility is insufficient.
Because of mobility redundancy, omni-directional mobile robots have many choices on the chain motion and that lead many advantages on robot’s work.
Thus, this paper propose omni-directional mobile robot(Omni-mobile II) with redundancy mobility. In addition, this paper deals modeling of the robot , kinemaitc analysis and some control methods that are proposed early or modified.
Control methods are investigated in 3 ways : inverse kinematic analysis with redundant mobility, augmented jacobian and weighted pseudo-inverse . And the meaning of the simulation results for that methods is discussed. Finally the merit of redundant mobility is shown by motion of the chain.
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- GRADUATE SCHOOL[S](대학원) > ELECTRONIC,ELECTRICAL,CONTROL & INSTRUMENTATION ENGINEERING(전자전기제어계측공학과) > Theses (Master)
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