Maintaining rescue posture of articulated double tracked robot based on model predictive control = 모델 예측 제어에 의한 관절 구조 이중 트랙 로봇의 가반 자세 유지

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Robots for extreme conditions are in the spotlight as their capability of replacing manpower being put into regions where injuries or death accidents commonly occur, such as battlefields, disaster areas, or danger areas. Rescue robot is developed for these issues. Its purpose is to safely transport injured soldiers in the battlefield. The robot is built with a manipulator on an upper body for carrying soldiers, and a variable configuration double-tracked platform as a lower body suitable for maneuvering through rough terrains. This thesis will apply Model Predictive Control (MPC) to maintain the rescue posture of the robot while moving through rough terrains and to verify its performance through simulation using a multi-body dynamics simulation software called RecurDyn. A scaled down model of the actual design was prototyped to verify the algorithm which was proved to be valid through simulations and to find any further improvements.
Advisors
Kim, Soohyunresearcher김수현researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2017
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2017.2,[vi, 59 p. :]

Keywords

Rescue Robot; Model Predictive Control; Maintaining Rescue Posture; ZMP (Zero Moment Point); Inverse Kinematics; 구난 로봇; 모델 예측 제어; 가반 자세 유지; 영 모멘트 점; 역기구학

URI
http://hdl.handle.net/10203/242814
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=675079&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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