한국원자력학회:학술대회논문집 (Proceedings of the Korean Nuclear Society Conference)
- 한국원자력학회 1996년도 추계학술발표회논문집(1)
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- Pages.165-170
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- 1996
Motion Control of a Mobile Robot for Nuclear Facility
- Lee, Jae-Kyung (Korea Atomic Energy Research Institute) ;
-
Kim, Seung-Ho
(Korea Atomic Energy Research Institute)
;
-
Kim, Kiho
(Korea Atomic Energy Research Institute)
;
- Kim, Byung-Soo (Korea Atomic Energy Research Institute) ;
-
Kim, Min-Suk
(Korea Atomic Energy Research Institute)
- 발행 : 1996.11.01
초록
In order that a mobile robot executes the real tasks such as inspection and maintenance in nuclear facility efficiently, the coordination between the mobile platform and the manipulator is essentially required In this paper, a new motion control method for a mobile robot to execute the tasks in nuclear facility efficiently is proposed. A series of simulations are performed to verify the effectiveness of the proposed method.
키워드