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.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.41 No.6
- 발행연도
- 2024.6
- 수록면
- 473 - 480 (8page)
- DOI
- 10.7736/JKSPE.024.029
이용수
초록· 키워드
오류제보하기
Autonomous robots are commonly operated on rough roads. Thus, it is essential to predict their dynamic characteristics. Even though it is possible to use real hardware to acquire a robot’s dynamic characteristics, this requires a significant amount of time and cost. Therefore, a real-time remote driving simulator must be developed to reduce these risks. Most real-time simulators employ physics engines, which are calculated using simple functional expressions based on particles. However, in this case, there is a limit to reflecting the dynamic characteristics of actual robots. In this study, a multi-body dynamic model of a robot was established. MATLAB Simulink was used to connect the vehicle model with the joystick and calculate user input signals. The PID control system determines the driving torque of the robot to satisfy the calculated signal. Gain value optimization is performed to enable real-time control. This study can be available to analyze the traversability.
목차
1. 서론
2. 무인 로봇차량의 동역학 모델링
3. 통합 시뮬레이터 구성
4. 실시간 주행 시뮬레이션 및 검증
5. 결론
REFERENCES
참고문헌 (12)
참고문헌 신청
Yoo, W., Kim, K., Chung, B., Lee, J., (1999), Efficient vehicle modeling for real time simulation-effect of massless links with force element, Transaction of the Korean Society of Automotive Engineers, 7(4), 330-337.
Gu, B., (2018), Functional real-time vehicle dynamics model for virtual reality vehicle simulator, M.Sc. Thesis, Chungnam National Univesity.
Park, J. W., Park, S. S., (2018), Evaluate of driving performance of wheel loader in the framework of Fitts’ law, Journal of Korean Society for Precision Engineering, 35(5), 499-506.
Lee, D.-W., Sohn, J.-H., Yoo, W.-S., (2014), Mass effect analysis is of a coil spring for the performance evaluation of a gas insulated circuit breaker, International Journal of Precision Engineering and Manufacturing, 15(12), 2543-2548.
Oh, S. H., Choi, B. L., (2014), Analytical and experimental study for development of composite coil spring, Transactions of Korean Society of Mechanical Engineers A, 38(1), 31-36.
Gu, B., (2018), Functional real-time vehicle dynamics model for virtual reality vehicle simulator, M.Sc. Thesis, Chungnam National Univesity.
Park, J. W., Park, S. S., (2018), Evaluate of driving performance of wheel loader in the framework of Fitts’ law, Journal of Korean Society for Precision Engineering, 35(5), 499-506.
Lee, D.-W., Sohn, J.-H., Yoo, W.-S., (2014), Mass effect analysis is of a coil spring for the performance evaluation of a gas insulated circuit breaker, International Journal of Precision Engineering and Manufacturing, 15(12), 2543-2548.
Oh, S. H., Choi, B. L., (2014), Analytical and experimental study for development of composite coil spring, Transactions of Korean Society of Mechanical Engineers A, 38(1), 31-36.
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