한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제4권2호
  • /
  • Pages.115-126
  • /
  • 1996
  • /
  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

자율 주행 반송차의 궤적 오차와 마찰력에 대한 매개 변수의 민감도 해석

Parameter Sensitivity Analysis of Autonomous Robot Vehicle for Trajectory Error and Friction Force

  • 김동규 (한국과학기술원 기계공학과) ;
  • 박기환 (광주과학기술원 기전공학과) ;
  • 김수현 (정회원, 한국과학기 술원 기계공학과) ;
  • 곽윤근 (정회원, 한국과학기술원 기계공학과)
  • 발행 : 1996.03.01
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초록

In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

키워드

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