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KAERI/CM-116/94LRN4
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The Developing of Avanced Robotic Technology
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A Study on the Tele-Existence and Intelligent Control of a Robot
System for Nuclear Power Plants
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KAERI/CM-116/94
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The Developing of Avanced Robotic Technology
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A Study on the Tele-Existence and Intelligent Control of a Robot
System for Nuclear Power Plants
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DISCLAIMER
Portions of this document may be illegible in electronic image products. Images are produced from the best available original document.
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—10 —
SUMMARY
I. Project Title
A study on the tele-existence and intelligent control of a robot system for
nuclear power plants
II. Objectives and Importance of the Project
To make a robot work in hazardous places and unstructured
environments such as a nuclear plant, deep sea, or space where a human
cannot access, the robot system is required to have the capability to cope
with the changes and uncertainties of the environment rather than the
capability to repeat sequential jobs continuously.
The operator can dean with the dangerous environment safely and
extend the working area easily, by introducing the tele-existence and the
mobility to the robot system.
The control technique of a robot system used in this circumstance is
based on teleoperation. The advantages of this scheme are that human
intelligence can be implemented in the control loop and the operator can deal
with the dangerous environment safely in remote site and extend the working
area easily.
To increase the efficiency of human intelligence it is required to develop
an intelligent monitoring and control system. In this research, we develop
intelligent control methods related with tele-operation, tele-existence, real-time
-11-
control technique, and intelligent control technique. Those are key techniques
in teleoperation, especially for the repair and maintenance of nuclear power
plants.
Since the necessity of repairs and maintenance for nuclear plants is
increasing, we have to develop the technology of tele-existence and intelligent
control.
The objective of this project is to develop the tele-existence and
intelligent control system for a robot used in the nuclear power plants.
This project consists fo five subprojects, objectives and importance of
which are described as follows;
• Subproject 1:
In teleoperation, it is crucial for an operator to feel the reality of the
work in progress. The force information is vital as much as the vision
information in this respect, especially in dealing with fragile or explosive
objects. Conventionally, the force information has been acquired from force
sensors.
However, force sensors are known to be inadequate in some cases as
they require complex hardware. Furthermore, when the slave manipulator is
located at a very far place from the operator as in space applications, the
teleopeation system becomes unstable due to the time delay in transferring
the force information from force sensors to the operator. So, we need a
-12-
method which makes the operator feel the force information, even though
with the time delay..
• Subproject 2:
In development of intelligent robot and telerobot, recognition of outside
environment is essential part. To determine 3D position of target object, depth
information is basic information. However it is not easy to obtain depth
information by using machine vision. In the nuclear power plant, accurate
measurement is very important to avoid a accidental motion of the robot.
Therefore, in this research, effective depth estimation system for
eye-in-hand robot is described.
• Subproject 3:
A research of mobile robots is an important field which can be applied to
many parts of industry and impressive progress is being made in that field,
as evidenced by the growing volume of research papers published each year.
Necessary for the mobile robot are environment-detection, path-planning and
locomotion control. All of those parts should do good function and be
matched well each other. Most of all, the real_time locomotion control to
keep the given path right and rapidly is the basic but inevitable part.
—13-
• Subproject 4:
This research was proposed as one of technologies for Development of
Distributed Controller and Fault Tolerant Technique using the Intelligent
Control. The significance of walking machines is more increasing as a robot
that can replace human race - in hazardous working envimment. But there
have been few studies of fault detection and tolerance of the walking robots.
This research will function a basic theory for studying systematic and
comprehensive fault tolerance method of the walking machine.
• Subproject 5:The aim of this study is to develop an autonomous navigation scheme
for mobile robots. For this purpose, we proposed a local motion planner using
neural network, based on a vision sensor information and developed a path
modification strategy in order to apply the proposed scheme to , a car-like
mobile robot. This kind of work makes it possible that mobile robot with the
intelligence can work even in the environment where the human being is
unreachable. In this study, we developed the autonomous navigation scheme
based on neural networks that micmie the human brain.
m. Scope and Contents of the Projects.
This project consists fo five subprojects, the contents and scopes of which
are described as follows;
—14 —
• Subproject 1: Bilateral force control of a robot hand using
intelligent control technique.
In this research, we propose a novel approach that acquires the force
information from the virtual realities of internal models. The slave
manipulator as well as the objects is modeled beforehand. "When the slave
manipulator is in contact with an object, the force is calculated from the
stored model. In this approach, the problems caused by complex hardware and
severe time delay become insignificant. The proposed method was implemented
on a 2 DOF arm that fits to a finger of the operator. We modeled a robot
hand as the slave manipulator and performed experiments to get force
feedback from the virtual realities.
• Subproject 2: Intelligent robot system using image information.
In this reseach, the previously proposed depth-from-focus techniqure is
improved. And a novel calibration technique for close distance is developed.
As a subsidy sensor, ultra sonic sensor is studied also. The ultra sonic sensor
give a valuable information in interpretate the blur image. Finally, we
propose a new machine vision structure which has programmable hardware
for algorithm hardwarization. •
• Subproject 3: A study on the real time motion control system for
mobile robots.
-15-
In this paper we establish a real_trme locomotion control system, of
mobile robots, we will perform the research about kinematics, dynamics of
mobile robot and construct a real_time control system, locomotion control
algorithm with the base of the 1st year research. In addition, the availability
of this research will be shown through the simmulation and the experiment
with a simple mobile robot constructed will be compared.
• Subproject 4: Development of Distributed controller and fault
tolerant technique using the intelligent control.
In our rerearch, the general scheme of fault detection and tolerance of
the locomotion of the hexapod robot in even terrain is proposed. The fault
stability margin is defined to represent potential stability that a gait can
have in case a sudden fault event occurs to one leg. Using this, the fault
tolerant quadruped periodic gaits of the hexapod walking over perfectly even
terrain is derived. It is demonstrated that the quadruped gait derived in this
research is the optimal gait the hexapod can have maintaining fault stability
margin nonnegative. In simulation, the modified tripod gait is proposed for
the hexapod to continue optimal locomotion after fault occurrence. •
• Subproject 5: A study on the intelligent navigation for mobile robots
by using neural networks.
Through the neural network, we implemented a local motion planner for
—16 -
navigating through the corridors, based on the sensor information given by
vision sensor and ultrasonic sensor system. Since this motion planner is valid
for the only omnidirec- tional mobile robot, we developed a path modification
strategy in order to this planner to a car-like mobile robot with nonholonomic
constraints.
IV. Results and Proposal for Applications.
As the number fo nuclear industry increases, the application areas of the
tele-existence and intelligent control of a robot system for nuclear power
plants are expanded. Moreover, these have many effects on the sensor
application, factory automation, autonomous vehicle, automatic assembling
robot, fault diagnosis, and expert system, and so forth. The research result
and it's application of each subproject are as follows. •
• Subproject 1:
In this research, we proposed and implemented a method which makes
the operator feel the reality of the work in teleoperation using a force
information as well as a vision information. The virtual environment was
used instead of the force sensor in the force control. For a practical
application the virtual environment should be expanded into the 3-dof space.
The system is also extended into the total teleoperation system including the
slave manipulator.
I/
-17-
• Subproject 2:
Since the reseach is performed for the practical application, it has great
possibility. Specially we study about the blur as a practical point of view. To
overcome the disadvantage of blur, a subsidy sensor system is also study.
And the possibility of real time implementation is considered. As a furture
study, by the system implementaion and integration, we can prove the
usefulness of the proposed depth estimation scheme.
• Subproject 3:
Through this research, by making a good locomotion control in short time
and spending time much more in other parts(environment-detection,
pathjplanning, etc) we can construct a good mobile robot to faction well with
larger information and more complex path given. •
• Subproject 4:
In this research we defined the possible fault events that can occur
during the straight line locomotion of the hexapod robot in even terrain and
proposed the fault detection and tolerance method. The scheme proposed in
this research will be used in implementing the walking robot which has the
ability of fault detection and tolerance. It can be helpful to not only making
direct control scheme of the locomotion of the walking robot but also
considering the kinematic constraint of the robot design.
-18-
• Subproject 5:
In this study, we developed the intelligent navigation scheme which can
be applied in the indoor environment with corridors. This scheme can be
easily applied to most class of real mobile robots. Therefore, we expect this
scheme can be used in the dangerous environment such as nuclear plant.
Since we proposed a modification scheme for a car-like robot, we expect our
algorithm can be applied to most mobile robots regardless of kinematic
constraints for mobile robot.
-19-
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3. DC AiS. 3A$\ 4W4 ^ AiM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
3] 5 4 Simulation ^ 44 ...............................................................................187
1. Simulation............................................................................................ 187
2. 4 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
31 6 4 ^ 4^431...................................................................................200
#31 -5-#............................................................................................................. 202
Jf- s.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
3| 5 # ^ Ago]* ol-g-^. 31# .. . . . . . . . . . . . . . . . . . . . . . . . . . 207
All 1 # 4# ^ 4^1................................................................207
1. 314 ^ 44..........................................................................207
2. #9 -W. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
3. #9- 314 ^ 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210All 2 4 4# M 5.S.E.S] 24 44 ............................................................. 212
1. 4# 24 5.224 o]## 2.1........................................................212
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4 5 # 5.-5] ## .............................................................................................. 234
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3. ## 24 3144 #4M4 #4......................................................... 239
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44. 25l2 "9 42# ^7l 4#4fe strain gage#- FSR(force sensing resistor)
# 7}44 "94 27141 444 #714 #4°1 44fe #4# ^l#-47l4, 2441
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state) 44 2424 444 4# #44fe 44 #°1 $14. 44 424# 4#
4# 44425 5.14 44.
— 37 —
(2.1)TT T d , T3 ddm 6mUm Jm d? +Bm dt +Fm i e'\ + m
Us~Js Vi +Bs ddt +Fs | % +Ts(2.2)
4741,
Um,Us: 4244 #31411 2:4714 7}44# 5.H. 44 4^
0m, 0S: 4244 ^l°ia 2:4-714 4- 44
/m,/s: 4244 #314 £ 2:444 44 ate
Bm,Bs: 4244 #314 £ 2:444 44 4# 4#
Fm, Fs: 4^44 #314£ 2:4-714 ##- 4# 4#
rm : 424 2:4717} &47}44 7}4# E3.
rs: *4 4£ 2:4-47} 44#4 7}4# £3.44.
4 2444 #4 a4£4 44 4# 4# 3.43. ## 4# 4## 247I
4 4-8-4# 4#4444 24*4 444 ?144# 444 444 4444. 414
444 (7m4 Z7S^- Ai-g-s]^- 414 #24#4 444 44 4:444 4 #31, #4
4£ 24714 7}44# 44 44aa #444 C/m4 UM 444^ 7}4
444 444 44 44# 24 44-44 44(position-position control)# 44-
4 4 4(position-force controls. 444 44.
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3. 44-44 414
44-44 44 M4 (zi^ 2.3)4 44.
Master Manipulator Slave Manipulator
Force Ratio
PID Controller
zi4 2.3 44-44 >1144 9^2.
4 9^3=44 S.94 44-44 44 ti<M44xr 4^4 ^444 #44s.
2:471 444 44 -£-4-7} 444 49 4 ^-4# #4^ B^s 4^4 ^44
4- #4 4s. 2:447} 44 41444. 4, #414s. 2:444 44^ 4^4 2:44
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9 41444 #4 C7m4 t7s4 444 494 44.
Um = KPm(6s-em)+Kdm(< 6S— dm) + Kimf(&s—ejdt (2.3)
Us = Kpsidn-ds) +Kds{ Qm- es) +Kisf(dm-6M (2.4)
-39-
4714,
Kpn.K# : 45* 5#44- *5)145 S:*** ** C|S.
K'te.Kz : 45* 5*44- *sll45 5*714 4¥ 4#
A^.-K* : 45* 5*714- W45 5*-44 ## 4444.
444 444 45*4 2.44 **55 rising time, overshoot, settling
time 4 ¥44 #4 444 44445.4 4444. 4 444 444 7)14454
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5 7)147} *4¥ 4* 41¥^1, 454 444 *W 7)14 44 54*4*
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¥¥4 44 5447} 4 *4* 44*5 **.
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— 40 —
44 #1# 411S11-. 14-1 44 #11 (zz.1 2.4)4 #4.
MasterManipulator
SlaveManipulator
PDD Controller
PID Controller
zz.1 2.4 14-1 444 tts.
4 #144 *44s. ^14^ 4^1 2:444 444 44 4444, 4^
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14 ##s.3. 444-s# 1-s.s.4 2:14# #4 #4 4S. s#44 7>41 1#
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— 41 —
Um = K^Ts-Tm) +Kdm( ts— rm)+Kimf(rs—rm)dt (2.5)
Us = KPs(dm—d^) + K&i 6m — Os) +Kisf(&m~8s)dt (2.6)
ZLSl^ O] 7)14 SH4 44‘44 414 tilSflAl
a] 4 -g-(unstable)41 # 7}^Aj 4 -3.4^" 4 $)4". 414 f5. 4*
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41 3 4. 7H> 4-Mr % 4M
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4.
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444# 4#4 #4 ##44 . 44# #4 A7> #4 B4 #44#
(x>xcl (4 3.1)4 444# #4 # #4 444 ##44.
— 44 —
F = dcx + kc(x—x^) (3.1)
4 7] 4 kcQ d^E: 44 #4 Bd\ 554 14(sprmg constant)^- 44 4#
(damping coefficient)0] 4, xc?E- F= 0# 44 11 44 °]4- #, #4 A7> F4
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F= kc(x-x} (3.2)
3. 7>4- #4444 1 45. 44 te4#
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— 45 —
(b)(a)
3^ 3.2 #44 35: #34 1# ^Bfl
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1 (b)# #44 S-444- 3#4-8# 1#44. ZL^ (a)4 1-f #44- 3.5- #3
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#4-. zl4 (b)4 4# #44 3.5- #3 AM4 4#4# 14 34# #44 3.4
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34 44# 33# 4#44 434 3444 7>4 #354 34-%}# 1 #4#
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1 4= 84-. 35: #34 7}44# 14- 4 3134 44# 3344 #4# (z| 3.3)4 (4 3.3), (4 3.4)3 Xl#4[20].
— 46 —
- Lp- /i
v
(98) ZI + (zJ??lllZ+ fl + zxl )z™ + XI + zx*l
- x^szl +
(zszix2)I{zCq + x9 )[{zDli + ziyzn-zizlnfi} +(^8)
(ZSZ!X!)/{ZX9 [(T/ + ZDZ1)ZZH-zDzlzlM^l) +
z3 + ZT# nziy =
‘C^(ZT0Z/ + TC>1/) - r^(2ISz/ + TST/) +
(zSz/T/)/(z(z0 + T0 )[(Z0T/ + z/)ZTjV-z/IW/> +(88)
?szixi)l{zx? iCi + zozi)zln-zDzixxmxi} +
^ + ZQ T0 + ZZ9 mH = t-2
ttn-g- tp& 12:lioH^ ^ 8*8 far:
^12 = ^21 = W2( ^s22 + 4^C2) + /2 (3.6)
M 22 = w2 /^2 + /2 (3.7)
1*122 = A 112 = -A 211 = -W 2^ l^5 2 (3.8)
STl = ^igT/^Ci. + w2g"(ZiCi (3.9)
& 2 = (3.10)
4714,
4, 4 : 434 44
»»1, *»2 : 434 4#
4i»4z : 434 44 #44-44 44
4,4 : 434 44 #44 7M4# 44
Fx,Fy : 4 -F4 x4#4 y4#
Si, Ci,, S2, C2 : sin ^, cos 6t, sin02, cos #2
Si2, c12 : sin(0! + 02), cos(d1 + d2)
' g : #4 7>4S-°14.
4 7)14 ^o))A) 4% 4-444# a# 434 ste 4# 6i, $2
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zlbIhs. (4 3.3)4 (4 3.4)i=r 4&4 44 (4 3.11)4 (4 3.12)5. 444
€4.
tl = (liS1 + l2Sn)Fx — (/i Cx + l2Cn)F y (3.11)
r2 = ^2^izFx ~ 12C12Fy (3.12)
7>4 44414 ^ 45-1- 4444 (nl 3.4)4 4
4.
.contact?
master position
object position
Master Manipulator
zz4 3.4 7>4 #444 ^ <9tt 44 J:#£
-49-
441 4^1# 4.1)4 44 9-444 $14.
MotorController <
position
Master Manipulator
position
force
1
AA ®1
i-i:i'i:j
^r.-Tl 4 :n:q. rf :ii iri .TTI-S. I-!::-!:!
Simulator 486 PC
n-t 4.1 4*11 4 ^#4 94}
415114 4 ^ 7>4- 14^-5. 5#444 $1^ 4414- 5# 4-4#
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544-7> M ^ $15.# 4-# 4"t# W. 54714 4151144 4-44
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force'em
FGA
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K,position
zz# 4.2 * 444 1-45
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(a) (b)
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(c)
a 4 4.4 44-4 443c.# 4^- 95.
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g 4.5)4 (4 4.1)4; 44.
— 53 —
80 100 120 140 160 180theta_a (degree)
(b)
=l% 4.5 ea$c 6b$\
t-J-2- U - cos [2 tan (-f) + 0J> = 2 cos % (4.1)<3 *1
47M,
180* -2tan-1(-f) < ^ < 360* -2tan"1(-^-)*i *i
c > J ^ ^ {l — cos[2tan + 44.
(zl^ 4.5)4 (b)fe /i = 1.5cm, h = 2.5cm, /3 = 4c#z43i #3. 50-i- 80*
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44 180' 44 ##aM# 44 064 ### 44# #44. 4
4 A0O « 5- A064 #47} $I&& # ^ #4. 444 ra ^ y • r64 #47}
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motor 1 motor 2
motor 1 motor 2
ZLH 4.9 5:4-711- ^71-4-4 4ft 5.^
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W A
[1] T. B. Sheridan, “Telerobotics”, Automatics, vol.25, No.4, 1989
[2] J. Vertut and P. Coiffet, “Teleoperations and Robotics”, Robot
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— 83 —
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on Robotics and Automation, May, 1992
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[21] g- 3Jr, "sM 3.3-i- ^1-0-4 S* ?4”,
44 44 44 44 1993
[22] 3 44, “7>4 44”, -S4 4444, 1994
[23] Aj #4, VR4 44 4^, 1994
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PUMA
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Vision Sensor 5 Ultrasonic Sensor
SENSORSYSTEM
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NM M PM
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Sensor System
blurred image
Ultrasonic Sensor
Vision Sensor
RobotController
UltrasonicSensorDriver
WeightingGenerator
Vision Sensor Driver (with feature extraction module)
3.3.3
Rule Table
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S L PM M NM NM
NM PM NM NM NM 8
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PM PM M NM NM S
L n M M NM S
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Firingstrength
COG
DefuzztflcdValue
3.3.5 t-E- (Mamdani-2] min <*!•<+)
0 50 100 150 200
(a) error by vision sensor
0 50 100 150 200
(c) error of fused sensor
0 50 100 150 200
(b) error by ultrasonic sensor
0 50 100 150 200
(d) fused sensor data
3.3.6 5.2) 2§ iz}- (Simulation Result)
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[1] Jorge L.C. Sanz," Advances in Machine Vision," Springer-Verlag Inc. ,
1989
[2] Y.C. Kim and J.K. Aggarwal," Positioning three dimensional objects
using stereo images," IEEE J. Robotics Automat., vol RA-3, no. 6,
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[3] T. D. Williams, "Depth from Camera Motion ' in Real World Scene,"
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[4] A.P.Pentland,"A new sense for depth of field," IEEE Trans. PAMI,
vol. PAMI-9,no. 4, pp. 523-531, July 1987.
[5] J. Cardillo and M.A.Sid-Ahmed," 3-D position sensing using a passive
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[6] S.H. Lai, C. Fu and S. Chang, "A generalized depth estimation
algorithm with a single image," IEEE Trans PAMI, vol. 14, no. 4, April
1992.
[7] °] -&4=, 4Journal of KITE, vol 29-B, pp. 40-49, Feb. 1992.
[8] David Vernon,"A system for robot manipulation of electrical wires using
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[9] F. C. Glazer, 'Fiber identification in microscopy by ridge detection and
grouping", Proc. IEEE workshop on Application of computer vision,
pp. 205-212, 1992.
[10] E.R. DAVIES, "Machine Vision:Theory, Algorithm, Practicalities",pp. 44,
academic press, 1990
[11] J. Weng, P. cohen, M. Hemiou, "Camera Calibration with distortion
Models and Accuracy Evaluation", IEEE Trans PAMI, vol.14, No. 10,
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October 1992
[12] R.Y. Tsai,"A versatile camera calibration technique for high accuracy 3D
machine vision metrology using off-the-shelf TV cameras and lenses," IEEE
J. Robotics Automat., vol.RA-3, no.4, pp. 323-344, Aug. 1987.
[13] S.Y. Harmon, G.L. Bianchini and B.E.Pinz, "Sensor data fusion through a
distributed blackboard", Proc. IEEE Int. Conf. on Robotics and Automation,
pp. 1449-1454, 1986
[14] M.Y. Chem, "An efficient scheme for monitoring sensory conditions in
robot systems", Proc. IEEE Int. Conf. on Robotics & Automation,
pp. 298-304, 1984
[15] R.C. Luo, M.H. Lin and R.S. Scheip, "“Dynamic Multi-Sensor Data Fusion
System for Intelligent Robots" IEEE 1988
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ActuaHy Register File), 4**31444 #31# ** 4*l^)-to-Sfl*1^4
4444, 44 4#5n 34# 44#5 ### # 4 $1* 1045 A/D #44,
44 3#4* m}53l 444 * 4 $14 3.4 VO Subsystem, 44# #31* #
7)] 4#4 # 4 $14 PWM(Pulse Width Modulation)#^ 44, 44
4- 44 to 4# 1- 4 $14 Full Duplex Serial Port, 4^ 27)14 444 4,
4# 44 s 3144, 3144# 5*4* **31 7}*# ^ $14 7)*## 442.
$14. #4 i80cl96kc4 488 4454 RAM4- 16K4 ROM/EPROM* 7}# 7]4
4 MCS-96 Til 1*54 4^4 till5.4# 7>7lJL $15#, 16MHzS 44# 444
12MHzS 444-4 80cl96kb54 30%4#- 4 45.4 12MHz4 8096bhS4* 4
Hfl4# 454. ###55 MCS-96# closed-loop 314, 44# #31 4444 4
4# 4 $14. 3LB1J7 #*)) 5% 2.4 7)14, =44, #4 314, 4#7l, X}*4
ABS(anti-lock brake system), AC 5.4 314, 4—-3. 5445 5A)5 $14##4
4 4 #711, ##3=3144 45.7144 443147} #5# 54 #344=414 444
31 /}445 $14i80c!96kc* 54 #5*41 7}*# #-f PWM### 4# 47} hardware?}
#5$14 4## 3* * $15 544 #*4 #54# feedback sensing* # #
*31 *54 A/D #445 444 44 $14 4# 4*4# 44 ##*
hardware^ 54 *5*4 7}*43) #4
5B14 #7)15 ##31 7i*s}*4 $1471 *317} 4 4* #*31## **34
*4 $1471 *57} 54 45# #44* #4 ## 31 #31 44, 31*4*
library function4 #444* # 44. 544 #7l# ##* 54 445 53) 4
#4 ## sampling time55 *5*# 4 4= 4*31 4# 43# *44717} *4
*1414.
—166 —
1. ^=3 44
Computed torque method6!] 4|% Primary controller# PD^I]6]# 41% seco
ndary controllers, ^^1%# C3.fl 3-3)
Inverse dynamics
errorstate
referencestate
current state
Primary Controller
Secondary Controller
ZL.i% 3-3 Mobile robot locomotion controller
—167 —
(1) Primary Controller^^-(manipulator §1 4# 3.#)4 -§-444# #443. -^-3E.5>7]
44#4 44%4-E.3. 4444 4%4- #4= -frS-Q 5L'i4 4444^ 44# 4# 4:1:# 4-§-#4 4# 4®?# 4## ^3. 444 44# #%# # # 4# 444- Primary Controller# S4 #4 4 -f-S.^r-4 S.^S.^-4 4 4 4 ^ "6" 4#4 #fe4 4%3-S. 4 #4
2#44 #4 s.## 44# 444a 4#4 #4 4%444.
[3=[/^)] + [B2UKd (3‘28)
4 3## s.# 44#44444 #4 #4444 %44 434 444,
f2(x)=-(S%) ™1(S7'^+SrK)
Bz(x)=(StMS)~1
444 #4 %2=%i 435.
=/2(at) +B2 (aO r(d (3-29)
4 5.H# fajl^ </=04 4# 4% 43 fiN=0# 4# 44%4 €4.
/2(x)4 B2(x)7]- 44% 4 44-2- 7}4#Ra computed torque method# 4#4 4
4%4# 444#4" &# 444# #44 4#4 44.
/(*)= [B2(^)]-i[^-^(^)] (3-30)
—168 —
(2) Secendary Controller
2MSL*1-4 <$-#±2. til: J2-*}# ^^^7] 41 #M PI, PD Jpgr
PED 7)1 °17] #-& ^^1^4 primary control^ c|?}-4 ^]o\
7}#4. PD 4^71^41 7110] ^ ^Kerror)^ 4# 2*}
M^IAS. safe 4&4 #4.
Kt)= [B^T'l-Uxi-xft-k^Xi-xfo (3-31)I/
(3) Total Controller
^6]]7^ -^t!r contrl inputs ^°1 plants 41^44-
i(t)=Kt) + At) (3-32)
4eW,
Kd = lB2(xd)r1lxf-f2(xd)-Uxx-xf)-kp(Xl -xf)} (3-33)
e=^-xf 5> /2(V)~ /2(x), Bi(^~ B2(x)4 7p§*V
^ 2#4^1 #^^41 rflS^M 7Jb1^ ^o] ^4.
e+^rfe+^e=0 (3-34)
4 <gs]£] 4M <9^ 4##fe w sa4.
-169-
2. 32.BMM
(1) PWM4- 4-0-% 3444
■944 457] 44 34 4444 45 3(Iinear servo amplifier) H-
4## 447} 9"## 4^3 <i43 ^4 4 #4 3 $14. 34 4- 4M 45 <g
5 44-Sr 314537} 371 444 S:i:4 4EJL ^o| ^ro] i|nS #54 44447} 4A4-711 44. 444 h.71 4 97117} #7}4-4 7>4 444 3$14 43 #
5. $14 44 437} 43SL5. 4#4 945 #54-4 44.44 44 4435. $14 4^dz57} 44 #4 #444 434-711 4$l3 zl
44s. 44 44 4^4 43 9-44444. #3^ 43 94444 444 4
#44 ## 4 $154 444354 9-4 54434 4-444 5544 444
0(zero)44*. 443 A}-g-E]^ #5# 43^4^14 344 90% 4444. 47H1
349 5^4349 power BJT ^-4 power MOSFET #4 3444 BJT9 3
44, 4444435 MOSFET9 3^44455 43 343 $14. 44434
49M14 T-9-4 ^ H-bridget|4 $144 ^4 ^ #^#44 4## H-bridge^
4 7}# #4 343 . $14-. H-bridge^4 719 457} 3*g 3-44 44$14 44
4 4 49444 H-bridge 9-# 434^1 On, 0ffX|4 444 4^4 Tr.-i- 44
On 445s. S}9 #5# 43 44# 3^4^4.
-170-
♦Vs
3-4 H-bridge^ PWM 3*3.
(2) Feedforward ## 44 #4
34 ^144 2147] ?}#- fAt 314 44 7iM#4 44 41 #7]
# &# ## 44-7]- #34213 44 44# ## 4tel- 7}# 3 4-0-43.$14-. 3414 A] #4# 444 &# 4 #4 414 #35# 4444447} #?}##-
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47] 4# 45.7} #34-4 3# ##4 553#35#4 43# 7]###-#3#
4-#53#35 ##### D/A converter?} #344 44.
#4= ##41#4 #3 01# ##44 444 214# 4# #7}## #34114# #37} &711 43 44-7] 7}# 4 371 #47] ### ?}# 444. 44 ##
##35 7fl## #4 Feedforward ## #14 4435 7]#4 ### #45#
## Tsukubatfl 44 Yuta3^## #3# #5 ## 44# 4#44 ###44
4#4 #4# 7}44 ##41#014 ##414# # # 21# ### 7fl#4^4. 4
# 4 #3# #5 #7144 ##### 711444 W##4- #?H4 34#5 g
#3# #5# 7}o)4 4^1# #4444, 7]e## # #70 #37} #4## ##
33 # #3# #5## # # 2154 24# 414## ## #, table look-up#
#47] 4 # #4 (sampling) ##44 444 #3# #3## ## # $}5# 4
# 4# 44. 344 4 4## 4tsn 43 # ##31# 43# 01 #354 4 3^14# ##4t11 ##217]# n. b|]4#4 37]7} #444 #335 4## 3# (interpolation)##4 #343 3# 414# ### 4# #3# 7]4#47} 3### #44 #4.
44-7] s. #^-611 A]#. o]4# 15# 71444 014 454 ### Til#4 4
-172-
f «^TQVvj.
4 4B44 44-& zl 7114 4441 44 27M5. ##41 S.&4.
(2)1 W4B 44 44
314:4 44# 4^1 44-44# 7}4#5 4# s]#Wpple)4 4^4#
44%# 4% 4 4 % 4 444 3]4:4 W4##- #444 # 4^ PWM ratio#
4444-4 5.44 4#44 44*.
Tum-onsq## 44 #7}43.# z%4 3-54- 44- 444 FQ1 4 F^,# Fs
4 44 45.53. #44.37, Vi=Vs— V^ ^ r=^4 44
m = ^-U~e^]+ixle~^ , 0<.t<.aT (3-35)
Turn-offs]5$# 4B 5^) 3-64* #4- Fp# #44-5. F2— Fs— Pem/4 4
4t/ (t—al) (t—tzT)
f2(d = -^[l-s r ]+^e r , tfT^T (3-36)
45- 4## #47] 444^ ^i4 (&# #44 44. 44-4-4](steady
state) °1 5i(T-aT) (T-aT)
ixi = h(T) = Jft' [1—e r ]+4g2% (3-37)
F, _2H ar«*2= ii(aT) = -g- [1— e ]+^e (3-38)
-173-
Vs
nf) 3-5 Trun-On #7} 3)3.
Vs
n.% 3-6 Turn-Off #7} 3)3.
-174-
44 99 444425 4 3-374 4 3-38# 9944 #2. 44^29 4#AT=aT} T (T-aT)
hi~ 3X- [^i(e r — e T) + V2(±—e r )] (3-39)R( 1-e r)
4 4:4.
i __gZ _-»r _XZTT C^iCl-e r )+;^2(e r —« r)] (3-40)
jR(l—g r)
44] W4fHi- 414^29 4414 44 #4.>aT
ia=\ [J[ faTi2(t)dt] (3-41)
444 # 44- 44 4KM 59
F^TJr ax
i? ' i?y.r —&Z —sH^(e r -l)-4iKe r -1) 0-42)
/:r i/L ynT —Vr-aT) —(r-ai?4(^)^=-^(r-aT)+^(g r -1)-Wg r -W3)
R
4(3-39)4 4(3-40)2.5. ^4 i*Mr 4942 4449 44 « 4
94 999 44 f^H44.
ia = -j^- a— -j=r Venf—■^■ = -^-{2a—l) — -^Vemf (3-44)
494 2a—1=0 5 11442 Venf—KyO) 425 {Kb : back emf 449
-175-
(3-45)
yS=2tf-l , .
4 453.^4 fe/4 #5. <y7> ^444. r% sM-7] 44 4
5:-ir(PWM ratio)7> f ^H44. 444 4# ^14 -f-5(current feedback loop) g) 4
£ 44-4] 4, # #5.4147> 7>^S>7ll 44.
(2)-2 Deadjbeat -g-44 44 4 #4] 4
4# 414 ^-H.(current feedback loop) §14 414°11 44 44414# 4# 5£
444 aj-|0S cf-g-4 #4: ^z]-5j] # ^ #4- 4, 344 444 #4
dfl til5)1 4414 #44 -g-44 #4# 3445 7}444, 44444
4 sampling time# 4 4#57l- 44445 44 44 5.4 444 °1 4# 4 4 14
44 45. 45- 44 Deadjbeat 44447> 4# e^Tll 44 445 4 ^4 #
4 7ie 4ft #»>7>7ll 44.
E{kT)-KbvikT)L
where E(kl) : t—kTQ 414 T^a(3-46)
444 V(kT) = E(kT) - Kbw(kT)45 45 t = I/R 44 44 4 3-4653#-
4 4#4 4 4-2:4.
(3-47)
4714 t=(k+l)T* 49145 4# 444 5444 4^44 #4 44.
-176-
Tr (3-48)i(k+l) = e 1—e
R V(k)
#, 'S-n'C i(k) )# #31 4^\E.( w(k) )# #44. tf-§- sampling time
414 4#( i(k+l) )# 44# t #?ll 5131, 4# 4^44 4^g- dh^4 #
w7>, #4^ 7]e 4# Ire£7> 4^ V(k)* i#4^# 443 4 ^ 44
4, 4#^ 7]### Iref# #4 7>7ll €4.
4 3-484 i(k+l)4 Iref# 4444 V(k)# #44 444* #4.
V(k) =-----— % (—e r /(A) +/re/) (3-49)1-e r
4# 44 #4
_ TE(k)=Kbw(k)----e _x i(k)-\------- ~^_x /ye/ (3-50)
1-e r 1-e r
7} 43% 444 a(duty ratio)# E(k)/Vs 4—5.
Kbw(k)---- Re _x i(k) +-----Iref
1-e r 1-e rVs
(3-51)
7} €4.
4-3.4 4 sampling time44 4-4 414:—3 a# 414 44. 443 4-§-
44^ 4 #4## 44 4^ 444.
-177-
3. dc Ajs. 5.44 44;thr ^ 45.711
4lMI 44-^4 DC A-]jL JE.B14 ?4^4 $14^1 ^4
fsflo} # 4-B: ^OTt# S-^lrr 44 44 7>45. 7}^}4tt 4°1
4. #, 4OT^r4 44ir ti7> 44^-5. # 4717} % 4717} 4^-5. # 44
7}, s# #44- 44 # 447}, 444-^-S. 4^7H 44 DC 45.
5.44 44: IMr^- 4—7ll S444.
ZL^ 3-7-gr 4^-7} 444 DC 7}M. 5-44 ^-7}4& 4 S5.S. 7}4# 7l2.
## 444 444
V,: ^to-atV] i:tizW5ft(A]R: 3zl*W«£n]L: ^14°J^€4H]JL: H44AS. @<# 444 tootiatkgf • JK: 2.4- 4tl4 Inertia[kgf • c* -s']Tk: 247K#8#c Taquefltf - <■]
££=*"*
Motor4)}4#4 batia
TV 4% T<xque[kgf • <■]W: 4$te£trad/s] « KI:Tomue=§‘Kklf-a./A]K.: *7l^4=[V/iad/s]
•£] f- 4S4E[rad]D: ^4#4f[kgf m/rad/s] V.: *7t«KV]
zl4 3-7 ^-4-7} ^-44 DC a-is. 5.44 ¥7}4s.
-178-
(1) tl7} 44 Vi4] 4# 4 #^5. W4 4# 49(W/Vi)
5.44 ^7]^> ^<>11 <>14 4^7} &44 43H^1 43144 4714
Me>7l ^#4 444 3-527} 4^4a rz.1 3-744 44 444# 4l#43-534 °1 4H#4.
F0=-KeZ (3-52)
F! = Lz '-hfff+Fo (3-53)
4441 5.44 M Torquexr ^#4 4314A 44Ste*4#:E=Torque4
#^ls.V4 4#4 #:# 2?H4 44 #5.44.
T^Kji (3-54)
JW+DW= T (3-55)
t=0444 2:7)4# 4 (zero) AS 4-5 44 444 4# Laplace #### 4
#4 #4 44.
V0=KeW (3-56)
F1 = Lsf+jyr+F0 (3-57)
r=irTJ (3-58)
/sPR-jDP7= T (3-59)
44 47114 4AS9-4 4W# G = WVi# 9-44 4 3-604 44.
r__z__________ &________G~ Vx ~ KTKe+(Ls+R)(Js+D) (3-60)
#43. L4 D# 4# 4^r ^o]7l 4 #4 9-4 7}#44. 444 #3-60#
4#4 3-614 44 # # $14.
G P7 5r Vi KTKe+JRs (3-61)
-179-
(2) 917} 44 Vid)] 44 45 84 4W^r(G=6/Vi)
44454 44-4 44545 4454 444 47}454 4* 4-§-44 4
3-524 43-554 44 4-^114 44 44 # 4 $%4.
Vo = Ke6 (3-62)
J6'+D6 = T (3-63)
44 44- Lapalce 4444 444 44 44.
Vo=^ (3-64)
Js2+Ds6= T (3-65)
43-61444 #4 L4 D# JM4-3. 43-57, 3-58, 3-64, 3-65A3.W 4#
#4" G=8/Vi# 9-4^ 43-664 44 44.
p— 0 — ___Fi ~ S(TmS+1)
where Km=^,Tm=^^(3-66)
(3) 4# 14 44 4445 W4 4W4(G=W/I)
D# 4-444 43-58, 3-593.4-4 4W4 G=W/fe 4 3-674 44 44.
s=f=4 (3-67)
43-6734-4 "2M 4# N 44 4445.4 44)7} zl% 3-84 &444 $1
4.
-180-
Tl Sj# Toque
2D 3-8 ^7]x> ### <9422 H ## 244 4l7}4#4 ## #4#2
47]xi 4# Torque TL-8r 244 3]#X|, 2.4 iflJf-4 *# Torque4
iflw. n}^- Torque## 2# 44 4# Torque Tl2 #• #44- 24# 4##7l
7} 4414 #71#- ## la# #4# 2.4 #4] Torque Tm4 #4 #4. W °1
Torque^ ##4 #2 W7> 5)3. 2# #2 W4 4#4 42 8<9# * 4= $14.
4*4144 44 4714 4# la# 414 4b 441 4# 24 #4 #24- 44 # 414 7}*44b #* * # $14-. 4* 244 44x> ## ia# 4144-4 4 44^ 244 44 44 Va# 414^4 4b^l 4*4 #31 b 4444 ^2 4 3-534 4# 444* #44 4b4 4*4 #417} 2D 3-941 4-4-4 $14-.
*l-6 Toque *1
2D 3-9 #714- #4# 4422 # #* 244- 4l7>4#41 ## -8-4#2
-181-
*42* 49 (Power Amplifier)* ^*49 299 4:491 44
* 7}49, 4 7] 49] *** Jl = 7]] 44- -29#• 6l*4* #4 9 M Torque^
414 999] 6)7] 9]*9l 4-9 °|29] 7}914* 41 VltiWM 494 ** la
7} ia£# 4^ 4714 4** 6%7]- 419] 441 49 7}*49 44. 444
3| 3-106)] 4b}t4 ^4 49 47]7} 4ft 4#44 44 1291 424# *2
$14.
«MS
24 3-10 4# 429# 4 9* 2-44 444#4 *942
DC 24 42* 27)] 4942, *242, 4*42 *4 4442 4# 4
$12, *42 9* #7}4# #149 4*442 #4.
* **42* 4*494 4-44 #*9] 4442 444-7)] *4*
9*44 4*4 44.♦ *292 .
42 24944 991 29-91 4*7} #*92 42 24949 *49 24
6)1 491 ##4 4242 44, * *294*4 4*919*7} 9 9]2di(propotion)
24 #449 $142 44 ^4 3-114 49 *2494# l^lt * $14.
-182-
s] 6 Torque Tt
3-11 9-^3 4*5= 44^1
[rad/s] + « [rad/s]
«MGam
ZL% 3-12 4*5= *\}*\)
-183-
ZZ.BJ 3-11# £^ 3-124- # ^(Direct) Feedback MS- ^444-
zz-l 3-1244 #£ 44 s-8r 4# 44 44 ^4-
e= Fre/- V (3-68)
V# #£44 s4 44: Torque TlS. $444 4#4 44 44-
F=(Gy e-yrji (3-69)
43-684 43-6944 8# £#44 #4 #£ V# 43-704 €4
y= S+Gy J s+Gp tl (3-70)
#£ 44 Vre41 4% #4 4-44- £44-4 44 TL=0 4 44# 444^,
43-704 4444- 44 44-
y=Gy
S+Gy (3-71)
43-714 44 M4# 4OT## 14 44 #£13## 4 # 44- £##
4# 44 444# 444= Tm(=VGv)# 44 44 #4- 4, #4 44 Gv# £71] 44 4#4 4# £7fl 44 £44 #44 #44 ^4 4444 4# 4=4
#44 44# #7l 4#4 444 444)4 44-#4 Torque# £3)44 4# 4## €4M, #3-6944 £*§ #4# £4
44 VreKs)=V(/s, Tl(s)=Ti/s* 4444 Laplace # 444^3 #3-724 4# €4-
PKd = (F0--^)a-eCif) (3-72)
t -> . 44 4# 4# #4 #4# 444 4# 44-
WC°°)= Jim wU)= Vq — -jjk^ (3-73)
-184-
#, 5.44 *5. W* #S} Torque?} 3* 434 #*4 £5# ^134
4 #444# ## Torque?} #£3 <9*4 4344 £##4 &£ 4* 34
Ti/(JGo)7} #4 33. 334 44* 3*34# #44 34 *#££ Vs7} 3
£43.
zz.ej 3-1144 44 £ Av» 4#£a?} #7}3 Gvd+l/(Tis))5. 44#
£ 4#(Direct) 4£-4 D45. 3*3 ZL^ 3-13# 34 34.
4&Totque
*54=4
ZL^ 3-13 *5.4 44(3 43*44)
♦ *£ 44# £#* 34 44
4 33 4% 4 #4 *£ *£(PI*£)44 5.#4£ 4-34 34 #£44 * 434 43 4# £44-4 £*£ #3. 34 f}*3# 4#44 34 44#
*34# Digital 4£44# 34 4*34 #4-## #£ #4 4*44 45. £3 444 435-zi 34-# *##}£ $}?1 4#4 34#£5. 44# * $13. 4
Gain* Gfl3 4£ #44 33* *£ 444# 24 4£5.4 3*4- 34 5.
-185-
w„(2%—0)s+w2„s2+2w^+w2„G(s) =
where w„=^ -^(jl-n-^^r), ?=y V GyT„ J5=(3-74)
ref
444 4^U-£r ZL^ 3-144 #4 44-
[rad] +
44
9 [rad]
zz^ 3-14 44 444
4| 5 # Simulation §1
1. Simulation
(1) 24 7)] 4 Simulation
444# 4 4#44 44# 4s& 4 #4 4 444 ### 44 2.5] ^
4- Ht4. 44 243# -Sen 44# 4# SU.1 &4 24# *>#4-374- ^
2.14 244 datasheet-#- ## # &&3 4^^2-S. ## # 4# 24 ##7> 4
#44 5U°i FMD 44a BIO 244 44 41:44## 44-4
23] 444 ## 244 44#44-
4 # 4 4 #4=#
44 #4 W 100
#7] 4 444= V/Krpm 8.50
s.3. 44= Kgf • cm i A 0.83
#7]A> 44 Kgf • cm • sec2 0.28 * 10‘3
#7]a> 444^ ohm 1.26
4# S3 Kgf • cm 0.25
ZL4 3-153] 23] 444 #44 1^# #a#-& 4## 4] SM4 44
feedforward 4#44 4:#4# 43# 444 (4#44414 444 4444 4
4). 24 244 #4 34# 44443 23] ^3] #4.# 24 #a-i-
4 ^44# 4 feedforward ##7> 244 4## ### 447>2 #4# 4#
# # #4.
-187-
PWM ratio = 1.0001 CM
-3L^ 3-15 PWM ratio (^^:S.-'&] y#-, ^ -y:Feedforward^^-)
-188-
DB_Current/Avg_Current ServoIjdb
Lovg
ZL^) 3-16 S.B) 3)-^- Servo Simulation
-189-
ZL%| 3-169 944 7]# 494 444 444 97>4 ^(Deadjbeat 94
4- 49 ^6|, W9944)33. 5.4 #^# 49 44-44.
Sampling time# 0.5ms5L 33.2.4 > 1044 sampling44 7]#4## toggle
444.
4fc 494 5.3 444 44 444 4h37] 4444.ZL4 3-1644 # 4= 394 steady.state 499 #7]-9 94 2.# 4#49
# # #47}3. 32-4, transient_state 449 Dead_beat 999 44 4944
444 4 #9 999 543 $14. # 444 4s. 942. 4 =2^4 4 #9
## 4s. #4 7\3i 399 4 9 44.
(2) 44- 5.5- 9*3 44 Simulation
444 9-4 9*34494 444 2.4 939 4534. 4 4 4 4443
9 494 44.
b = 0.188 (m)
r = 0.08 (m)
PD 44714 9 4?44 444 49 5.#4 44^9 3.34 Computed
torque PD method# 444 4444 9 495. 494 2.4 449 333 44 4 444 2.4 44# # 4, 44:4 97>3 44(Dead_beat 949 43 494
4, ^ 54944)9 33334.434 494 44 94343 443-3 5.4 499 *3334.
• O^KO.5 : V[ef=V?f=<Kmls)
• 0.5^K1.5 : VTe/=^e/=0.2(^-0.5)
-190-
• 1.5^£<3.5 : V[ef=V?f=0.2
• 3.5^£<4.5 : V[ef=0.2 .
^e/=-0.2(£-4.5)
• 4.5<:£<5.5 : F[6/=0.2
V?-Q
• 5.5^£<6.5 : FT/=0.2
PT/=0.2(£-5.5)
• 6.5^£<8.5 : V?f=V?f=Q.2
• 8.5^£<9.5 : FT/= T^e/=-0.2(£-9.5)
• 9.5<-t : PTe/=l^e/=0
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%JL
[1] B.d.Novel, G.Bastin and G.Campion, "Modelling and Control of
Nonholonomic Wheeled Mobile Robots", IEEE Int. Conf. on Robotics
and Automation, 1991
[2] VME Bus System, The Electronic Science, 1987
[3] Inland Motor, "Basic PWM Servo-Amplifier Theory", Kollmorgen
Coorporation
[4] S.Iida and S.Yuta, "Feedforward Current Control Method using 2
Dimensional Table for DC Motor Software Servo System", IECON,
1988
[5] X.Yun and YYamamoto, "Internal Dynamics of a Wheeld Mobile
Robot", IROS, 1993
[6] ^
1994
[7] J.J.E.Slotine and W.Li, Applied Nonlinear Control, Prentice-Hall, 1991
[8] S.Iida and S.Yuta, "Control of Vehicle with Power Wheeled Steerings
Using Feedforward Dynamics Compensation", IECON, 1991
[9] ^ 4m KAIST
1993
[10] B.d.Novel, G.Bastin and G.Campion, "Dynamic Feedback
Linearization of Nonholonomic Wheeled Mobile Robots", IEEE Int.
Conf. on Robotics and Automation, 1992
[11] DC Motors Speed Controls Servo Systems, Electro-Craft Coorp., 1975
[12] Benjamin C.Kuo and Jacob Tal, "DC Motors and Control Systems",
-202-
SRL Publishoing Company, Champaign, Illinois
-203-
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44 10: 44 4#4 (regular gait) 4 5# 444 44#4 ## ##444.
44 11: tfl^j 4-§-Afl(symmetric gait)# 5.5.5. 4*3 44# #5.5 44 4
4## 4#4 ## 44#5. 4## 4, a# 4## 44 4MI4 4444 0.5 4
#4 444-7} #44# 4#444.
44 12: 44# 4#44 555 4*3 4## #55 44 441# 4-44
## 4415. ### 4, 4 #4 444 441 44 4447} 2.# 4# 4#4
44.
44 13: 4 447} 44# # 8# 44# 447} #44 #4$}# 444
44 4444- 5-24 4# #41 5.444. zz.44 4 zl^4 #4 4# 4
414 44 7}## 444 45. 444 # 44 44 4#4 #4##44# # $14. zz.^ 447}# 444 44# 11# # 444 44 44# 4
4 8 <9 554 4 14# 4144 #4. # 4144# zz.4 5-34444 4 44
4 44-ZM4 44 7}# #4 44(reachable ceU)# 4444 14# 444 8
5# 484.
44 14: 44 44"^(support pattern)# #44 #4 4 444 444# #
444 # 4 41# 144# 4# ## 444(convex hull)# 1#4.
44 15: #4 4Instability margin) Sro# #44 #4 ### 44 444
4 #444. # #444 44 4444 #1 4-44 44 # 454# 4#4(zl
4 5-4 #1).
-215-
44 16: a]]5. 44 4-rr5L(longitudinal stability margin) S/9 -§-A]]S] 97)!
#4# 44 44-441 #444 # #444 #44 4# 44= # 44144 #4
43m 4-44 44 # 4# %# #44(zi^ 5-5 #2).
44 17: 44 z’4 719-44 #41 (kinematic limit) Jf,-9 44 *4 #4 444
*H14 #4 4# 444 44 444 &9 reachable ce!14 444 44# 444
(ZL^I 5-6 4"2l). 45 71944 44(kinematic limit) Km-£r 5.9 444 71944
44 4 44:4 4# 444.
44 18: Sro>0 4 43 44" 5*3 555.7} 4 4 ^^(statistically) #4 (stable)
4431 44. 4 #31 #44 #444 44 44-44 4#41 $1# 4 444431
444. zi#4 94 4#0ill# #44(unstable)443i #44.
-216-
Reachable Area for Leg 2
Excluded Area for Leg 3
Excluded Areafor Leg 1
direction of motion
=L% 5-2: 44 M a]X| 7>^ <3^4 ^44^
Redefined reachable cell of leg 2
5-3: 4444 44 4~£ 44 ^4
-217-
Support Pattern
Sm = Minimum of d1, d2 and d3
ZL^ 5-4: 4-n- *V-fj-£.(Stability margin)
n.%l 5-5: 45. <^-n-5(Longitudinal stability margin)
-218-
»
Km = Minimum of Ki, Ka and Ks
ZL^l 5-6: 7l:rL'S]--5j (Kinematic limit)
1
..............^Body Motion
-219-
vtfl 3
4 46)1 43 SM 5.S.S.S] 4^ir 44 7i4 34 #4 34 s &4#2.43 7>4 #3 7}#3 2.4 4-3## a ZL A}3#3 333 4 $1#33* 4 4:44.
1. 44 M 5.S.S4 #43 &3
3 34 44 3444 #4# 3 34# 44 441, &# 44 34# 7>33
jl 343$3. *# 447> 343# 44, s# #4 #4# 444 34# 44
# 347} ##4# 44444 4444 34 ^43 #4 34# 3-444 &7l
s. 44. 44-4 444 44 344 ^4 0# Jf-44-3 4# 344 l* #44-3
4-4#4 34# 43 4444-3 1x6 vectorgs. &33 # 34-. #4# 4-4
34 330# 4--B-4- 34 3434-.
Q — {q : g=(sls s2, s3, s4, s5, s6), s^{0, 1» (5.1)
4 4, s,# 4-4 z4 :34# 334-. 344 34# 435.4 334 444
333. 3 14 344 334 4-4# 4354 33# 3#3 34 3433.
E = {uit dit m: i= 1, 2, .... 6} (5.2)
4 3444 3# 34 %4 34 43s# 7}44^ «,-# 4# 43s.# 7>4
33. 33544 4s.# 43s w4 344^#4 4 43s.# #44 4## 4
-220-
4 #4. 4fe nt*\ MM* 44* 444 444 4*€ 444 M4 *4 *€ 444 44* 7>4555 4*54 4 44s. 44# 444. 44 *4 431 444* 4314 44 &4# 4 €4.
44 7H 44 €414 431 4445. €4 4^441 &4# 4 514.
2. 314 44 44 (Fault Detection Profile)
44 M 5554 ^ 4€4M* 4si 7>4 314 A>;*i-4 444: 4 $1
4. 444 44*4 MM4* €455.* **8 #44 #44 €45. 5554 4
47> 44# * &* 4€4 €4-4 31 €* 4*4i €44 555 314 5#
55 €4 31*4 €45 4# * 514 5554 41441 €4*5 €#4 ^7]*
2.4*5* 4*4 €* 4*4 514: 555 441 €44 44, 444
end-effector-4 54, 414 7] (controller)4 end-effector44' *44 *4, 41471 4
414 54, 444 41 € 4*1*3 €4 5 **3 4^4Mi 5* A]4(time delay)...
* €*414* 4*4 4* * 7>4 54 4€*4 444 4* *41** 4
*4.
1) 444 71*44 **4 54
2) 4H714 444 effector A>c.]e] *44 *4
1)4 44* 444 7]*44 **(41: lift motor) € 544 44 5 447} 4
€4 44 44* *4* * §1* 4*44 2)4 4-4* 41444 44* *44*
-221-
effector^ #H4 #444 S4# 2444. 14 2)4 A>^o] IS 141 2
45]# 414714 IS# 14 5-4-J2.5. 4 41 ### 1 #7} S44 24-4 2 47]7] 444# 2l a>^o] IS 4-7] 444 4-44- 445. 314 44 444 4 4. 1 49-444 1)4 444 44 #14 1SS# 45# /,-42 544-2., 2)4
44 °1 44 #14 1:4 Sir 45# A.-4-2 5444.
444 144 1), 2) A>4i-oi 444 #4 444 13]# 42s. 2 A}4# 4 1SS4# 4# 1 5 S3] 5# 41144. #, 41 447} 4444 41, s# 44# 54#4 5.42 44 1# 44144 131# 7>41 244 14S 42 141 5 S4. 14 fp\ 144# 4-r# 145a}. 44 i?\ 44 13)4
S# 4 fp\ 1SS42 7}441, 45] z# 4fe m,7> 1444 1S&315 #
9-42 441 44 13]# 541 5 S3] 44. 4, 44 z7> 44 1314 Sir
31 /,-7> IS Si- 314 13] 144# 53)5 14.
/.s,-: 0 —^ 1. (5.4)
45] z‘4 131 147} 4# 13]41 24- A}4 /,4 IS# 4S5 m,-7> 4
4 #1 71-3147] 444# 1 5 &4. 4 4to %,-3]2 #542 44 z» 44
13] 5 141 5 S# 313] y^7> 1414# 4ir 1 5 S4.
5,-: 1 —1, when /,- occurs. @-5)
-222-
M 24 228: s,- = 1, # 44 i7l 22 444 $1# 4 m #22#
44 til*44. V> #22# 4 44 fe zt 447} #4 4444 #22 24
44 44 2te 44 m/4 #4 44 44# #3-42 ## 4 *4* 44 *4
34 24# 4## * $14. 2.4 44 A,4 44 44 *4 44 444# 444
24.
% :
5; :
1
0u*> 0 when hi occurs.
(5.6)
44 M s.S.5.4 #444 3-4 44 €4# 4#4 24.
3.4 24 44 (Fault Detection Profile): 44 M S.M4 3.4 424 *4 fl 44 424 447} 444 44714 2fc7} 24 S# 4 7}44 2 4444 44 44# ti.22 *S# 4 2224- '
-223-
^8 4 4 ^ ^
l. #*il 41Sr l^A^ £ 4^4 2-4 A}#4- ZL A>y#i; #44^ 41##-
4425. 4-4 24 3.25.4 44 AM 44 S79MH4 2.4 44- ^*3 #4-4#
711444. #4# 4-44-tII 4-71 444 24 #4 4441 4% 44-4 44 7}4
# 44.
1) 4-4 5*3 siir 44 4%44 4# ##4 44.
2) #Aj] 4-4 4 44 244 #444-
3) M- 44°114 #44 4#3. 2.4 A>4o] 4<H4 t 214.
4) 24# #44 4## #*3# #4 444 #f44 #44.
4 #44 #4# 3.4 #4 44 4 44 z4 44 44# 4 V> #44 4-r-
4xr zl 44# 4# 44 444 4#4 #4 44. #44 447} 4#4 4:44
Ai #44 44- 4-##hs. %4 ^ 4#4# 44-7} 44 4 44-1 4
#4 44°14. 44-4 4- #9-414^ zl44 444 444-2. 4444s. 44. 4
4-## 4442# 2.4- a}# ^4 444 44# 2# 44 441 #25 2.4 #4
#41# 4 447} 44 #4# 7}# 4" ##4442 4*3# 4## 4= ## #-§-
4# #2# #s. 4144.
2. A}4" #-§-41 (Quadruped Gait)
44 5*3 Ilir +X 44 4425. 44442 7}4 44. #4 7}4 1) ~
4)44 44# 444 44 45.4 442 #4# fault Stability margin4 444
4.
-224-
44 fault stability margin : 44 3*3 233 4^11 #4 fault tolerant
stability S,# <?4 *1*1 M 44# # # 44# 4# 4412 45 44 #44
^•44 4:4 4-rr3(stability margin)# # ^4i4;014.
#4 3*3 2324 2.# 5d)l 44*1 5/ < 5W4 4# *>444. Sy# 44
3*3 2324 *1*1 44 447} jl44 444 4°14 *1*1 44# 4*1# 4 81
711 4## #H13 #444t11 44 #3 3*3# 7114# 5 $144#, 2324 #
7H #44 *143. ## 4*114 #4344. Sz4 444143 4 4 4#°1 fault
tolerant stability# ^1## 41 °1# 4441 $1# 44# 3444 ##4- 44#
#7H4 44 #43# 4441# *1*1 441M1 4# 444 44# 3444 #*1
41 #44- fault tolerant stability4 Tfl^# 7}*l3 JL# 4# ##M1 ?1#4 4#
4#4 44# ##4.
44 5JL : 44 2*3 5.32.7} ^*3*1 5i4 444 4t11§H #444# 44 ^
*3 4444 Sf ^ 0 444 #4.
44 44# ti144 *14 34443 #3:44. fault tolerant stability*} 4
#7} 4# 4# #7l 4#14 4-4 3*3 233# ^*3 #4 44# #4 4#4
(Tripod Gaits)2 7}# 4 §14. #4 4441# #3# Sy < 0 °l7l 41 #4 4. 4
44 444 34 44 ^*3 44-711# 4*1 4#14 #4# fault tolerant stability
# 0 4433 4*14# 4-4 44-4 (Quadruped Gait) 4 4 e#14# *1# #43
44 #4.
-225-
zz.g 5-7-gr 4 444 44 7}# 44 344 ^=434 ZZ. 34 #4 #4#
(rear, middle, front point)##- 54# 44 A- 444 Zl3" ## A}z} ##^7}
#7H#4# 4# 414 445 14441 34.
44 5.2 : 4-4 M 3.554 d\$ 71)4 444 42- 4444 zLf] 5-84 (a)4
442 47}. fault stability margin# 0 44-5.5. 4# 444 j%4 44 A}z} A #41# ZL^ 5-84 to ZZ. A]4 44# ZLfj 5-94 to.
1 4 : 42 44 44°ll A-j fault stability margin# 0 4#25. #4444 4
# 7}## 4414 2## (44 1, 44 6), (44 2, 44 5), (44 3, 44 4)4
4. 4 2## #44 (44 1, 44 6)# 525 #44 44441 44a-] (44 3,
44 4)4 13# "944 414 #3# ## 444. 444 (44 3, 44 4)4
(44 2, 44 5)4 2# #4 44# 42 4# 4412 #4^4= #4- 444#
44 34 44 47} 4M44. 4 2#4 4M4 4#1 #4 5-3 44 1444. 4 4 34 44 47} 7}# # .&# 44 2#(maximum stride length)#, 42 a]7]4
4 middle foothold point425(ZZ.f) 5-7), ZZ.fl 5-8 (c)4444 yP44. Z%4
5-8 (c)*41 a-] Sz ;> 0# #44^Ai 44 24 44 5# 141444. zz.fj 5-8 (d)4
4 #711 #14 A5 4144 #4. 4 41 fault stability margin# 025 #41
#4 (marginal stability^} 44. 44 24 44 5# ZLf] 5-8 (i)44 front end
foothold position^ 4444 #4# 3:4 ##4 4#7>45 44 14 44 6#
141471 43M #711 111 ZL^ 5-8 (g)4 £5 41444 #4. 44425
44 14 44 64 ZZ.f) 5-8 (i)4 front end foothold positional 4^143 #4 2
*3 525# # #44 5^1 #4711 44. zz.fl 5-84 2# 414 4 A1 ^ 0
h—-—H, ■ -« ' , 1 ' • 12 1 0 2 1 0
Ay
2 T o'
2 “? ol <2 ?r* ^
r w
01
position of leg 5 position of leg 5 position of leg 5
ZL^ 5-7: ^ ^^4 5.S.H s-sfls]
f/
-227-
leg 3 ,teg2 leg1
#
Ieg6 'teg 5 teg 4
(a) Initial State (b) Lift Ieg3, Ieg4
(c) Place legs, Ieg4 (d) Move Body
teg2 leg 1
(e) Lift leg 2, teg 5 (I) Place teg 2, teg S
-228-
If
leg 2 teg 1
(g) Move Body
legs leg 2
•
Ieg6 leg 5
Ieg1
Ieg4
(i) Place leg 1, leg 6
3.% 5-8: 5L% q-s- a>z^ 4^.AH
-229-
0 IT T
leg 1
leg 2
log 3
Ieg4
bgS
teg6
(b) (c) (e) (0 (h) (0
(d) (9)
31 5-9: 3^ 5-84 44 414 (% #44 44 M.)
#705.# #44 #4 #44 447> 848 4* 444 44 4# 44 44
4 44s. 444 44°> 44. 344 34 5-844# 44 7}# 44 444 4
47} 34484. 44# 4# 44 #4 5#4 44 444] #44 44 44#
444-tI] &4#7] 4*11444. 34 6-84)4 # #44 45 41s. 4# 845(mi
nimum longitudinal stability margin)# -^-jP44(34 5-8(b), (c)).
34 5-84 ##444 5.5.5# +X fAs. 44 ##4 4-714 #7114 -¥->11
#4# +X# 445 ±Y ##555 ### 44. 344 #7114 #711 #44 4
## 414# 5# 447} 44 4-1=041 8555. 44 7># 44 444 44 44
5-84 4# 714448 544 #544.
44 5-3 : 34 5-10# 34 5-8(d)4 44 44% 35] 5-744 444 #4#
4844 3?1 444. #7)14 #7)] ##4 44455 4#44 4*114# 4#4
4# ¥#44 44444 44.
__________________________ ______ _____________ ______
Q :> -|-07+2^) (5.7)
-230-
I/
=L% 5-10: A>Z}- 71*44 j£^
# 4 : 5-1044 4414 *4 1M.
\
m = -|(Q+t7+2r) (5.8)
*4 *4* +Y #* 44 *445.5. 44 7}* 44 *43 *t11 **4 ^-44
4* W4 44* 4-43. *444= 44. 344 4 44** *4* 44
&3E.5. 4444 44* **44. 444 444*4 44 4* 44 *44 *
?1 4# 34* 444 *4.
■f > m (5.9)
4 (5.8)4 (5.9)414 04 *4* 4414 *4 *344-
0 ^ -|(L7+2IF) (5.10)
-231-
leg 2 leg 1
Q+U+2W
leg 5 leg 4
=L% 5-11: 45 u}b}7} 2, 5# *114
4 (5,7)5 #4 5.2414 444 444 5# 4-4- 5^ #4-47} ###55
3M5|7l #5.4 ##5|4<5]: # 5444. 5 d] 4# #7)15 31#
44-4: 374# 4-4- 5*3 siEt ## 41 #2:414 # 41# 544 444715.
44.
441 #4 5-2<>)l4 42: 44- 44#5 44 24 44 54 5## 41 4-0-# 5 §157}# #441 54. #4 44 24 44 57} 44414 44 5##
5 444S431 7}# 4# 4-B-4 44 44 &#-# (44 3, 44 4), (44
l, 44 6) #4 4444. 4# 44 14 44 64 444431 7}# 4# faultstability margin# 0 4#55 #44471 4M4 444 54 #4# ZLf] 5-11
4 .44#55 4544 44. 4 41, 54 544 -Y#554 45 44 w# 4-
44 #4.
w =• j(Q+U+2W) (5.11)
-232-
4 (5.9)o]]A1 ti}-5] o] 444°1 44 7>^ 44 #4$l7] 4% 7]#W ^-8r 44-4 44 -fi-:E44.
0 ^ C7+2P7 (5.12)
4 (5.12)4 (5.7)4- ti]H5flM (5.12)44 4 44444^ 44- ^34 # ^$14. 4 44 7>^ 44 44 04 ^4-4 ^o. ^ yjjq. ^0> zi4 5-84 374- =-
4 4w4* 7>4 ^ #4. 44-4 4^-44 2:44 44 3-244 (44 3,44 4)1Z 47> 4 4444 44 44 4-B4M4.
-233-
a* 5 # TgLoj jjig
i. *3 *3
& 34 2.4 3341 44 7}3* # 4, 4-4 M 5.S.E.4 *343 * 2. 4 444 4 4 44 33*45 7}34£4. 5455. 44 53 a5541 53* 444 M44 zL 4*4 M44^ 2.44 2.44 357} ^4. 444 44
53 555* 3.4 44 M *41* 444 *3* 4414 44 3*3 (Tripod gait)!- 7>4 444. 4- 44 5.4 334171* 44 53 5557} 3 444 45. 4 44 4445 *3* 447} 53 444 33 M* 3*41* 44 444a * 3* 4*34* 44- 4444: 44 4444 34* Lee [13]7> 454 44 53 5554 44 444 444 4*34. [13]41* 444 4a 44 7Hke. 44
4# 444 44 444*4 *54&4-. 544- # 444 4=54 4*- 4444 5554 4s] 444 544 f# 3*455 4444 44 44444 4 4 4# 34* 53 344-. 534 444 ^lr 44 53 5554 5341 4
44 4 3* 4711 4-4 ** 44 ?%7} 44. 444 4444 44 4447} 37% 4 4-44 53*4 444 7}4^i 44~o]4 34* 7}4* 44 44, 4 44 4444714 * 447} 7]4 444 44 444 44* 444 *444 44 3 44.
* 4414* * 7>4 54 7}4*41 43 53- 4-4 4*7%# #54-34-. * 4 53 5554 4444 444 4-4 3, 4, 641 534 f^St 4** 4-4 141
54-4 #4* 3*4- 34-7} 4*# 345, 4-4 541 534 375* 3** 4-4
241 53-4 #3* 3*4- *33 344 34* 53 344-. 4-471 3 £*4171
* 4-4 14- 4-4 241 534 33S* 3*41 43 34-* 534-
-234-
2. 44 141 5#4 #4M# 3#53 5-123 44 141 3-%°] W8S-S- 3#4 44-4#42. 53 5-134: 5
^ 5-12# 44 414-5-5. 444 444. (a)414 # 41 $134 44 l# 4 4#
44 4-4# 44# 47> $44 5*341 #444 #44.zz.3 5-124 ##4# #4*11 54 #4 5*3 555# # 4414 4 #4 a.
# 44 44 4445 5*3# 447} 43 141 5#4 #444 (a)4 ## #41
7} 3 $4-5! 7}# #4. (a)4l4 fault stability margin# 0 4 #55 4#4 4 44
7}## 444 5## (44 3, 44 5)44. 444 #44* 7>4°> 4-55 44
34- 44 54 5## M 34(53 5-7 #5) (c)3 #4 44 23 4333 44
33 #4#4 #44jl 44 43 4^144- 44 53 #44 4 #44-711 €4 4
nfl (a)4* (c)4 ##4# 5# fault stability margin4 0# marginal stability#
#44-711 #4. (c)44 43 7>#4r 44# 44 2 #455 44- 27} 43 #37> 344 (d)4 #4 ##47} #4:4 44 27} #44 341# 471455 (g)
43 44 44- 44 64 434-5 #44 #31 #44 444 5### 4344
4r #3# #3711 €4
# 53 #444# 5#4 44## 34 444 #37} 5-12 (a)4- 445
7}44S4. #3 #4 #M4# 44 7}4 43 #344 5#4 #4# #7}
$154, 5# 4#45 44#4 444 #43 &34# #34# 53 5-12 (a)~
(h) #4 445 4#4 #4 ##43 44# # $# 444.
— 235 —
(a) Initial State (b) Lift legs, legs
(c) Place legs, legs (d)Uftleg2
(e) Place leg 2 (I) Ult leg 4, leg 6
-236-
(a) Place leg 4, leg 6 (h) Move Body
5-12: rq-Bl 14 rSM
0 AT T
(d) (0 (h)
ZLB) 5-13: ZL^ 5-122] A]# ^<d-2r 4*1 M).
-237-
4 44 4¥4]4 9^14 44ir¥ zl% 5-134 4# tij-g-4 44 -TKE44.
T
ys
3f+f
2f+ €*i + i
vi+2vbVj+2vb
(5.13)
(5.14)
a.44 1H4-71 44 44¥4 ^7l# 9-44 44 44 4^ S.x>. a.4
44 44 44 4444 4# zl4 5-944. 4 4, 44i:4 97^ 44 4 44 9-S.44.
T (5.15)
(5.16)
44¥¥ A>4 4-§414 44 444 s.9 ¥4444 ¥4¥ 4 (5.13)4 (5.15)44 # -9 &¥4 44 4447} a>4 #^5.4 444 #4¥4. ^44
zlU 5-124Ai 4 444 S-¥-6- -P5-4 44 4&44 2445.5. 4444 ¥*3
-238-
*E* 434* 4 ^ S4.
3. 43 241 2.3-4 3*
ZL3 5-144 5-15* 43 24 373.0] y>3S* 3*3 44 4-4 44-444.
44-44 44434 4-34: 43 14 3134 43$* 34-4 3*44.
n3 5-164: 4-4 M s.S.E.3 313 ^-4 44-43 44 *3s# 444
434. 3 zz.344 4 * 4*3 4-4 M 34 4344 34 l*3i
4 4 313 a>^4 4344 343 4 4 444 *^4 333 43 4*45. &
*34- 44. 3* *34 43 447} 53* S53 4 34 44 44# #44
* &# 3*4* # 43 2-3 43 444 444 434 43 4*45. M*
4*4:4. 3 4 fault stability margin* 44 0 343 4# *44-31 43*4
44 M *s.s. S3 *3 4444 4344 *444.
-239-
Ieg3 leg 1legZtauit
S
Ieg6 legs leg 4
(a) Initial State
(c) Place Ieg3, leg4 (d) Lift legs
-240-
leg 3 leg 1 leg 3
• o*......... ........>•
leg 6 legs tog* legs legs
I®01
too*
(O) Place leg 1.log 6 (h) Move Body
5-14: cj-Bj 24) 3.^°) ^
o »Tr T
(d) (0 (h)'
3.% 5-15: =L% 5-1451 Al^l *1*1 «).
-241-
Quadruped Gait
Fault Detection
=L% 5-16:
-242-
41 6 ^ ^
4 #4*11714 4-4- 3*3 ^ig *]# M444 s# 4-4 4
4# 4#$#. 44 M 333 44^4 7>42. $14 s#* 444 14##
4*71144 44S.# 5.44^1 4#4 fault stability margin-4 4444U2. 4 3}#
0 44-4 #s* 44 444 s# 44 44 444# 444s n 4444 «H4 4S3. #44^4. &4 1#S3# 44 3*3 3334 44 444 514-4 #4
# 4*11 3337} ^1^4 444 447H* 444S' 3«J4 7114# 4 ##7}*
3^4- 4 #444 4 #4 s# 4# 7M4 44- 44 3*3 333# 5-16
4 3*3* 444 3*3 444# #4*4-. 4 s44 M44 444 fault
stability margin# 0 #*33 44 44 1471)3 3*34 447} #4 S4°l 1
4# 444 #4 4443 444# 4444 3*34 7)1444.
4 #4*1144 44 3*3 3337} 4^4 444 3*3# nfl# 444 4944
4 ##4. ss)4 til44 4^*1144 s# 44 7l#3 4 #4*114 7)144 ##
4# s4 44 447114 €4# 444# 411 4 #4 444. 4 44 3*3333# free gait* 4 #33 *# 447)1# 7}44 # #4*114 7)]## fault
stability margin* 0 ##33 4)471# 4# S#*ll 44734 7}* 4°14. 44
# 4## 4#4 3*34 4#4 #4*11 444 deadlock 44 #4# 4## 4
3 #333 #33 4 4 4144# #47} 4 #3# 4*14.
4 #4*1171 4S# 51# 44 #4711# 4# 4444 s#4 s# ##4
44 444 7}44 44* 3*3 333* 41 44# 4*)ls 441 4 #4 4*1
4.
-243-
[1] K. S. Fu, "Learning control system and intelligent control astern: an
intersection of artificial intelligence and automatic control," IEEE Trans. Automat. Contr., vol. 16, pp. 70-72, 1971.
[2] J. S. Albus, "Outline for. a Theory of Intelligence," IEEE Trans. Sys. Man Cybemr., vol. 21, no. 3, pp. 473-509, May, 1991.
[3] M. Jamshidi and P. J. Bicker, Robotics and Remote Sytems for Hazardous Environments. Prentic Hall, 1993
[4] A. P. Bessonov and N. V. Unmov, "The analysis of gaits in six-legged
vehicles according to their static stability," Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators,pp. 1-10, Udine, Italy, 1973.
[5] R. B. McGhee and A. Frank, "On the stability of quadruped creeping
gait," Math. Biosci, vol. 3, no. 314, pp. 331-351, Oct. 1968.
[6] S. M. Song and K. J. Waldron, "An analytical approach for gait study
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[7] E. I. Kugushev and V. S. JaroshevsMj, "Problems of selecting a gait
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[8] R. B. McGhee and G. I. Iswandhi, "Adaptive locomotion of a
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— 244 —
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[12] Y. J. Lee, A Study on Crab Gait Control and Path Planning for a Quadruped Robot on Uneven Terrain, Fh. D. Thesis, KAIST, 1994
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BIBLIOGRAPHIC INFORMATION SHEETPerforming Org.
Report NO.Sponsoring Org.
Report No.Standard Report
NO. INIS Subject Code
NN13270 KAERVCM-11Q/94Title /Subtitle A Study on the Tele-Existence and Intelligent Control of a
obot System for Nuclear Power PlantsRProject Manager and Dept. Chung Myung Jin, KAIST, Dept, of EE
Researcher and Dept.
Myung Jinj KAIST, Dept, of EEChung
Pub. Place Taejon Pub. Org. KAERI Pub. Date 1995. 7.Page 286 P. 111. and Tab. Yes(0), No( ) Size 19x26 cm.
Note The Developing of Advanced Robotic Technology
Classified Open(0), Outside( ),Class Report Type Final ReportSponsoring Org. KAIST Contract No. 94C-73Abstract(About 300 Words)
To increase the efficiency of human intelligence it is required to develop , an intelligent monitoring and control system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in teleoperation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop the tele-existence and intelligent control system for a robot used in the nuclear power plants.
Subject Keywords(About 10 Words)
-Existence, Mobile Robot, Bilateral trol, Distributed Controller, Neural
Tele-Operation, Intelligent Control, Tele Force Control, Real-Time Motion Con .Network
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