지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
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초록· 키워드
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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.
목차
Abstract
1. 서론
2. 역기구학
3. 하드웨어 디자인
4. Localization
5. 시스템 컨트롤 아키텍쳐
6. 실험 및 결과
7. 결론
References
참고문헌 (11)
참고문헌 신청
1. [학술지(정기간행물)] - Jae-Bok Song / 2004 / Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels / Journal of Robotic Systems 21 : 193 ~ 208
2. [학술지(정기간행물)] - Masayoshi Wada / 2007 / Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs / Journal of Robotics and Mechatronics 19 (3)
3. [학술대회논문] - Olaf Diegel / 2002 / Improved Mecanum Wheel Design for Omni-directional Robots / Proceedings 2002 Australasian Conference on Robotics and Automation : 27 ~ 29
4. [기타자료] - Ioan Doroftei / / Omnidirectional Mobile Robot – Design and Implementation
5. [학술대회논문] - Yuki Ueno / 2009 / The Development of Driving System with Differential Drive Steering System for Omni-directional Mobile Robot / International Conference on Mechatronics and Automation
2. [학술지(정기간행물)] - Masayoshi Wada / 2007 / Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs / Journal of Robotics and Mechatronics 19 (3)
3. [학술대회논문] - Olaf Diegel / 2002 / Improved Mecanum Wheel Design for Omni-directional Robots / Proceedings 2002 Australasian Conference on Robotics and Automation : 27 ~ 29
4. [기타자료] - Ioan Doroftei / / Omnidirectional Mobile Robot – Design and Implementation
5. [학술대회논문] - Yuki Ueno / 2009 / The Development of Driving System with Differential Drive Steering System for Omni-directional Mobile Robot / International Conference on Mechatronics and Automation
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UCI(KEPA) : I410-ECN-0101-2020-559-001258724