외바퀴 로봇의 Yaw 방향 회전 제어 (Rotation Control for The Yaw-Direction of Unicycle Robot)

서지정보

· 발행기관 : 한국로봇학회
· 수록지 정보 : 로봇학회 논문지 / 3권 / 4호 / 331 ~ 337페이지
· 저자명 : 황종명, 배동석, 이장명

초록

The field of robots is being widely accepted as a new technology today. Many robots are
produced continuously to impart amusement to people. Especially the robot which operates with a
wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow
robots share the same technology in that the direction of roll and pitch are acting as balance controllers,
allowing the robots to maintain balance for a long period by continuously moving forward and
backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way.
Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the
angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor.
Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation
of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot
with a yawing direction controlling device in the center of the body so as to allow sideway movements.

영어초록

The field of robots is being widely accepted as a new technology today. Many robots are
produced continuously to impart amusement to people. Especially the robot which operates with a
wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow
robots share the same technology in that the direction of roll and pitch are acting as balance controllers,
allowing the robots to maintain balance for a long period by continuously moving forward and
backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way.
Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the
angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor.
Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation
of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot
with a yawing direction controlling device in the center of the body so as to allow sideway movements.

참고자료

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