[ Special Issue : Seoul Tech Capstone Design ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.286-292

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 18 Apr 2018 Accepted 07 Jun 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.286

헤드리스 조종을 이용한 구형 바퀴로봇의 설계

변재우^a ; 최용건^a ; 권준영^a ; 윤지훈^a ; 김정한^a^{, *}

Design of Sphere Wheel Robot with Headless Control

Jae-Woo Byun^a ; Yong-Gun Choi^a ; Jun-Yung Kwan^a ; Ji-Hoon Yoon^a ; Jung-Han Kim^a^{, *}

aDept. of Mechanical System Design Engineering, Seoul National University of Science and Technology,232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: ^*Tel.: +82-2-970-6397, Fax: +82-2-974-8270, E-mail address: hankim@seoultech.ac.kr (Jung-Han Kim).

Abstract

In the places where are so many crowded people such as an airport and a large market, it is hard to move a heavy conventional cart. In this case, an omnidirectional robot carrying the baggage can be a convenient solution. however, the user should control the robot with the consideration of the orientation of the robot at all times. When the orientation of the robot and the user are different, it is hard to control the carrier robot. In this research, we developed a novel control method of an omnidirectional carrier robot, which compensates the orientation inconsistency between the robot and user automatically by two magnetic sensors. This configuration allows the user to control it much easily and instinctively. In this research, a special kind of omnidirectional robot for a baggage carrier was designed, and the wireless headless controller was developed. Finally the system was evaluated.

Keywords:

Headless control , Sphere wheel, Omnidirectional mobility, Terrestrial magnetism

Acknowledgments

이 연구는 서울과학기술대학교의 교내 학술연구비 지원으로 수행되었습니다.

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