능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어

김한결; Do Ngoc Huan; 박종찬; 권동수

논문 상세보기

능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어 KCI 등재

Design and Control of the Active Split Offset Caster based Omni-directional Vehicle

김한결, Do Ngoc Huan, 박종찬, 권동수

언어KOR
URLhttps://db.koreascholar.com/Article/Detail/240923

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로봇학회논문지 (The Journal of Korea Robotics Society)

제8권 2호 (2013.05)
pp.75-81

한국로봇학회 (Korea Robotics Society)

초록

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.

키워드

Active Split Offset Caster Omni-directional Vehicle Position Control

저자

김한결(Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST) | Han-Gyeol Kim
Do Ngoc Huan(Mechanical Engineering Department and Undergraduate Research Program at HRI Research Center, KAIST)
박종찬(Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST) | Jong-Chan Park
권동수(Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST) | Dong-Soo Kwon Corresponding author

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