가변무게중심을 가진 모바일 로봇의 주행특성 해석

초록

Service robot which uses to work at an extreme environment substituting for a human being has the tracked or wheeled mobile platform to move efficiently. Skid steering system which is widley used to the mobile robot platform is operated to turn by differential speed between left and right side of wheels. The mobile platform is able to move and change direction in the limited space without any steering However, the system has a disadvantage of non-holonomic constraint to control the position of the platform precisely. For overcoming the penalty of motion variable studies has been carried out such as the robust motion control algorithm of nonlinearity and uncertainty by considering dynamic characteristics of skid-steered platform. Furthermore, the research concerning estimation of contact pressure between tracked wheels and road to control the moving of the platform has been published, however, the heavy calculation processes are required to anticipate the motion. On the other hand, Using kinematics such as the instantaneous center of rotation(ICR) and dynamics can be helped to estimate the trajectory of moving the platform reversely with simple calculation. Not only the ICR is decided by the velocity of the wheels but also the trajectory of the platform. Meanwhile, studies about skid-steered mobile robot has been concentrated on the motion wihtout any devices mounted on the platform. In case of using acuators with higher torque and certain mass transformation to pejsw0928 rform a certain work and moving the platform simultaneously, the work device can be affected to move the center of gravity(C.G) of the robots and come to the end of mislead into other trajectory. Therefore, the trajectory estimation is performed numerically with determining ICR in variable Certer of Gravity of the overall platform to examine possiblity of controlling the motion.