방수형 로봇팔의 설계, 실험 및 제어 연구
A study on design, experiment control of the waterproof robot arm
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초록
본 논문에서는 화재나 홍수로 인하여 침수된 건물 내부를 탐사할 수 있는 새로운 방수형 4축 로봇팔을 설계하고 로봇의 기구학 및 동역학 해석을 수행한다. 로봇팔은 카메라를 이용한 탐사를 위한Pitch-Pitch-Pitch-Yaw 4축 구조로 설계하고, 이를 구동하기 위한 관절구동기의 용량을 선정한다. 또한 수심10m의 방수가능한 관절구동기를 설계 하고 실제 구동시험을 통하여 방수성능을 검증한다. 설계한 로봇팔의 순기구학 및 역기구학 식의 해석을 통해 닫힌 해를 유도하며, 메커니컬실의 마찰력을 고려한 로봇팔의 운동방정식을 뉴턴-오일러 방법에 의해 유도한다. 유도한 동역학식을 이용하여 개발한 로봇이 목표궤적을 잘 추종할 수 있도록 슬라이딩모드 제어기를 설계하고, 시뮬레이션을 통해 그 성능을 확인한다.
Abstract
This paper is about the study on a newly developed small waterproofed 4-axis robot arm and theanalysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch–Pitch–Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selectedand the joint actuators are designed and test for 10m waterproofness. The closed-form solution for therobot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equationincluding the damping force due to the mechanical seal for waterproofness is derived using Newton-Eulermethod. Using derived dynamics equation, a sliding mode controller is designed to track the desired path ofthe developed robot arm, and its performance is verified through a simulation.
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