TY - GEN
T1 - Pose tracking control of an omni-directional wheel-type robot for a heavy-water nuclear reactor
AU - Shin, Hye Won
AU - Kim, Hyung
AU - Moon, Sang Chan
AU - Lee, Soon Geul
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - In this paper, a PID controller is designed to solve position and orientation tracking control of a robot for a heavy-water nuclear reactor when the robot keeps track of a circular reference trajectory to show mobility for small turning radius. The four-wheel-drive robot is designed to have two omni-directional rear wheels for mobility and the tool center is located just above of the geometric center of the mobile base for stability. The complex nonlinear system dynamics of the omni-directional wheel-type robot is modeled with the RecurDyn. Using this dynamic model, a linear control theory based on a two wheel differential-drive robot is applied to design the robot controllers. The control strategy needs not only to keep track of a trajectory of a small radius, but also to locate the tools center to the proper position, with only position and orientation measurement. The co-simulation between RecurDyn and CoLink is built with the derived control strategy and some simulated results are presented.
AB - In this paper, a PID controller is designed to solve position and orientation tracking control of a robot for a heavy-water nuclear reactor when the robot keeps track of a circular reference trajectory to show mobility for small turning radius. The four-wheel-drive robot is designed to have two omni-directional rear wheels for mobility and the tool center is located just above of the geometric center of the mobile base for stability. The complex nonlinear system dynamics of the omni-directional wheel-type robot is modeled with the RecurDyn. Using this dynamic model, a linear control theory based on a two wheel differential-drive robot is applied to design the robot controllers. The control strategy needs not only to keep track of a trajectory of a small radius, but also to locate the tools center to the proper position, with only position and orientation measurement. The co-simulation between RecurDyn and CoLink is built with the derived control strategy and some simulated results are presented.
KW - PID controller
KW - heavy-water reactor robot
KW - offset control
KW - omni-directional wheel
UR - http://www.scopus.com/inward/record.url?scp=84893573252&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6703949
DO - 10.1109/ICCAS.2013.6703949
M3 - Conference contribution
AN - SCOPUS:84893573252
SN - 9788993215052
T3 - International Conference on Control, Automation and Systems
SP - 651
EP - 656
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -