-
公开(公告)号：KR101448832B1
公开(公告)日：2014-10-13
申请号：KR1020130051888
申请日：2013-05-08
Applicant: 국방과학연구소
Abstract: The present invention relates to a haptic system. More specifically, the present invention relates to a method of controlling position distortion of a multi-degree of freedom (MDOF) haptic system, which solves a problem of direction distortion of force caused when a passive theory is applied to an MDOF system to control the haptic system. According to the present invention, stability can be maintained when interacting with a remote environment, and the directional transparency of the MDOF haptic system can be improved.
Abstract translation: 本发明涉及触觉系统。 更具体地，本发明涉及一种控制多自由度（MDOF）触觉系统的位置失真的方法，其解决了当将被动理论应用于MDOF系统时引起的力的方向失真的问题，以控制 触觉系统。 根据本发明，当与远程环境相互作用时，可以保持稳定性，并且可以提高MDOF触觉系统的方向透明度。
-
公开(公告)号：KR101444665B1
公开(公告)日：2014-09-24
申请号：KR1020140087647
申请日：2014-07-11
Applicant: 국방과학연구소
Abstract: The present invention provides a rescue robot including a body; an arm which is coupled to the body to surround the lower end of an object; and a support device which is foldably mounted on the front of the body and supports the object by assisting the arm. The support device includes a support plate for placing the object and a developing module for driving the support plate in response to the driving of the arm.
Abstract translation: 本发明提供一种救援机器人，其包括：身体; 臂，其连接到主体以包围物体的下端; 以及支撑装置，其被可折叠地安装在主体的前部并且通过辅助臂来支撑物体。 支撑装置包括用于放置物体的支撑板和用于响应于臂的驱动而驱动支撑板的显影模块。
-
公开(公告)号：KR101380791B1
公开(公告)日：2014-04-04
申请号：KR1020130015999
申请日：2013-02-14
Applicant: 국방과학연구소
CPC classification number: G05D13/66 , G05D1/08 , G05D3/1454
Abstract: The specification relates to a friction compensating method using a standard angular speed trajectory of a stabilization controller which is loaded in all kinds of platforms and compensates disturbance and traces, and stabilizes an unknown moving object. In case of the friction compensating method using the standard angular speed trajectory of the stabilization controller which is loaded in a platform whereby there is disturbance in roll/pitch/yaw and traces and stabilizes a moving object; the friction compensating method using the standard angular speed trajectory of the stabilization controller according to the embodiment disclosed in the specification comprises: a step (1) of calculating a standard angular speed trajectory of an azimuth; a step (2) of calculating a standard angular speed trajectory of a high angle; a step (3) of performing friction compensation of the azimuth using the standard angular speed trajectory of the azimuth; and a step (4) of performing friction compensation to the high angle using the standard angular speed trajectory of the high angle. [Reference numerals] (AA) Center of gravity of platform; (BB) Platform flat surface; (CC) Blow system; (d_1) Yaw; (d_2) Pitch; (d_3) Roll; (DD) Target distance; (EE) Target; (x_3) Azimuth axis; (x_G) North; (y_G) East; (z_6) High angle axis; (z_G) Top
Abstract translation: 本说明书涉及使用稳定控制器的标准角速度轨迹的摩擦补偿方法，该稳定控制器装载在各种平台中并补偿干扰和迹线，并稳定未知的移动物体。 在使用装载在平台中的稳定控制器的标准角速度轨迹的摩擦补偿方法的情况下，其中存在辊/俯仰/偏转中的干扰并且迹线并使运动物体稳定; 使用根据本说明书中公开的实施例的稳定控制器的标准角速度轨迹的摩擦补偿方法包括：计算方位角的标准角速度轨迹的步骤（1） 计算高角度的标准角速度轨迹的步骤（2）; 使用方位角的标准角速度轨迹对方位进行摩擦补偿的步骤（3）; 以及使用高角度的标准角速度轨迹对高角度执行摩擦补偿的步骤（4）。 （附图标记）（AA）平台重心; （BB）平台平面; （CC）吹气系统; （d_1）Yaw; （d_2）间距; （d_3）卷; （DD）目标距离; （EE）目标; （x_3）方位轴; （x_G）北; （y_G）东; （z_6）高角度轴; （z_G）上
-
公开(公告)号：KR101367154B1
公开(公告)日：2014-02-27
申请号：KR1020110138570
申请日：2011-12-20
Applicant: 국방과학연구소
Abstract: 본 발명은 힘 센서를 사용하지 않고 암 회전 상태 정보와 휠의 토크 정보를 이용하여 수직력을 추정하는 휠 차량의 수직력 추정 장치 및 그 방법에 관한 것으로, 본체에 대한 암의 회전각과 휠에 작용되는 종방향의 토크를 검출한 후 암의 회전 정보 및 휠의 토크 정보를 이용하여 상기 암에 작용하는 스프링 토크를 계산하여, 상기 검출된 암과 본체와의 상대정보를 이용하여 상기 휠에 작용하는 수직력을 추정함으로써 주행제어에서 가장 중요한 수직력을 정확하게 예측함으로써 주행제어 성능을 향상시킬 수 있을 뿐만 아니라 차량의 자세제어 등에도 다양하게 이용할 수 있는 효과가 있다.
-
公开(公告)号：KR101331832B1
公开(公告)日：2013-11-22
申请号：KR1020110102725
申请日：2011-10-07
Applicant: 국방과학연구소
Abstract: 본 발명은 적어도 하나 이상의 중계기를 자율 주행 로봇에 장착하여, 주행중에 원격 제어단말과 통신 감도가 양호하지 않은 경우 중계기를 투하하여 통신을 수행함으로써 외부 통신 시설이나 인프라에 의존하지 않고 자체적으로 원격 제어단말과 원활한 통신을 수행할 수 있으며, 작전이 종료되어 원 위치로 복귀할 때 기 투하된 중계기를 회수함으로써 보안 문제로부터 자유롭고 재사용이 가능하도록 한 중계기를 갖는 자율 주행 로봇, 그의 통신방법 및 중계기 투하/회수방법에 관한 것이다.
-
Patent Agency Ranking
公开(公告)号：KR1020130038074A
公开(公告)日：2013-04-17
申请号：KR1020110102725
申请日：2011-10-07
Applicant: 국방과학연구소
CPC classification number: H04B7/15507 , B25J11/002
Abstract: PURPOSE: A communication system including a repeater, an autonomous robot, and a communication method thereof are provided to enable a robot to maintain smooth communication with a remote control terminal. CONSTITUTION: A mounting unit(110) includes multiple dent areas formed on the boundary of a main body. One or more repeaters(200) are mounted on the mounting unit. An electromagnet unit(120) attaches or detaches a repeater with an electromagnetic force. When communication sensitivity with a remote control device is reduced, a control unit applies the electromagnetic force to the electromagnet unit. The control unit drops the repeater mounted on the mounting unit to the ground. The control unit communicates with the remote control device through the corresponding repeater.
Abstract translation: 目的：提供一种包括中继器，自主机器人及其通信方法的通信系统，以使机器人能够保持与遥控终端的平滑通信。 构成：安装单元（110）包括形成在主体边界上的多个凹陷区域。 一个或多个中继器（200）安装在安装单元上。 电磁单元（120）用电磁力附接或分离中继器。 当与遥控装置的通信灵敏度降低时，控制单元将电磁力施加到电磁体单元。 控制单元将安装在安装单元上的转发器卸下到地面。 控制单元通过对应的中继器与遥控装置进行通信。
-
公开(公告)号：KR101248074B1
公开(公告)日：2013-04-02
申请号：KR1020120127943
申请日：2012-11-13
Applicant: 국방과학연구소
IPC: G01M17/007 , B60K7/00
Abstract: PURPOSE: A method for inspecting the performance of a one-stop process in-wheel motor power transmission and an operation method thereof are provided to apply operating conditions similar with that of an real vehicle, thereby performing an optical inspection with high reliability with respect to external and internal conditions of the operation of the real vehicle. CONSTITUTION: A method for inspecting the performance of a one-stop process in-wheel motor power transmission comprises a simulator(1), a control device(200), and a power device(100). The simulator includes an in-wheel motor and in-wheel motor power transmission rotating wheels with torque of the in-wheel motor; inspects the performance inspection of the in-wheel motor by rotating the in-wheel motor according to a vehicle load condition and a road surface condition; and includes a disturbance block capable of adjusting the height in contact with the wheel in order to regulate an external force caused by road surface changes delivered to the wheel. A HILS(Hardware-In the-Loop Simulation) unit is loaded on the control device, and the control device controls the simulator. The power device supplies power to the simulator, and power supply is controlled by the control device. [Reference numerals] (1) Simulator; (100) Power device; (200) Control device;
Abstract translation: 目的：提供一次过程轮胎电机动力传动的性能检测方法及其运行方法，以应用与实际车辆类似的操作条件，从而相对于 真实车辆的运行的外部和内部条件。 构成：用于检查一次性过程轮胎电动机动力传递的性能的方法包括模拟器（1），控制装置（200）和动力装置（100）。 该模拟器包括轮内电机和轮内电动机动力传递旋转轮，其具有轮内电动机的转矩; 通过根据车辆载荷条件和路面状况旋转轮轮马达来检查轮轮马达的性能检查; 并且包括能够调节与车轮接触的高度的扰动块，以便调节由传递到车轮的路面变化引起的外力。 HILS（硬件在环模拟）单元装载在控制装置上，控制装置控制模拟器。 电源设备为模拟器供电，电源由控制设备控制。 （附图标记）（1）模拟器; （100）功率器件; （200）控制装置;
-
公开(公告)号：KR101170914B1
公开(公告)日：2012-08-06
申请号：KR1020110106656
申请日：2011-10-18
Applicant: 국방과학연구소
Abstract: PURPOSE: An autonomous navigation robot and a method for moving the robot on an inclined plane are provided to reduce a delay of a traveling time generated when the robot does not move on the inclined plane. CONSTITUTION: An autonomous navigation robot(10) comprises a pose sensor and a control unit. The pose sensor senses a roll, pitch, and yaw angle value of the robot. When the robot enters an inclined plane(200) from a flat plane(100), the control unit converts a roll axis, pitch axis, and yaw axis coordinate of virtual vectors using the values obtained by the pose sensor. The control unit calculates a steering value, and controls the robot based on the steering value.
Abstract translation: 目的：提供一种自主导航机器人和用于在倾斜平面上移动机器人的方法，以减少机器人在倾斜平面上不移动时产生的行进时间的延迟。 构成：自主导航机器人（10）包括姿态传感器和控制单元。 姿态传感器感测机器人的滚动，俯仰和偏航角度值。 当机器人从平面（100）进入倾斜平面（200）时，控制单元使用由姿态传感器获得的值来转换虚拟向量的滚动轴，俯仰轴和偏航轴坐标。 控制单元计算转向值，并且基于转向值来控制机器人。
-
公开(公告)号：KR101078854B1
公开(公告)日：2011-11-02
申请号：KR1020090089767
申请日：2009-09-22
Applicant: 국방과학연구소
Abstract: 본발명은회전가능한암과상기암을구동시키기위한암 구동부를구비하는본체와, 상기암에회전가능하게장착되는휠과, 상기휠이지면으로부터떨어진비접촉상태를감지하는센싱유닛을포함하고, 상기센싱유닛은상기암 구동부와암 사이에설치되며상기암이상기암 구동부의출력축에대해상대회전운동함에따라인장또는압축되는스프링과, 상기본체에대한상기암의회전구동정보및 지면에대한상기본체의자세정보를각각검출하는제1 및제2센서와, 상기암의회전구동정보및 상기본체의자세정보중 적어도하나로부터상기비접촉상태에서상기스프링이갖는기준길이를계산하고, 상기스프링의측정길이와상기기준길이를근거로상기휠의비접촉상태를검출하는제어부를포함하는것을특징으로하는휠 구동차량및 이에적용된휠 접촉감지방법을제시한다.
-
公开(公告)号：KR1020110032333A
公开(公告)日：2011-03-30
申请号：KR1020090089767
申请日：2009-09-22
Applicant: 국방과학연구소
Abstract: PURPOSE: A wheel driving vehicle and a wheel contact sensing method thereof are provided to confirm the position control error of a wheel by sensing the contact of the wheel in various directions. CONSTITUTION: A wheel driving vehicle comprises a wheel(130) and a sensing unit. The wheel is rotatably installed in an arm(120) of a main body(110). The sensing unit senses a non-contact state that the wheel is separated from the ground. The sensing unit comprises a spring(141), first and second sensors, and a controller. When the arm is relatively rotated to the output shaft of an arm drive unit(121), the spring is stretched or compressed. The first and second sensors detect arm drive information and main body posture information. The controller detects the non-contact state of the wheel based on the measured length and reference length of the spring.
Abstract translation: 目的：提供车轮驱动车辆和车轮接触检测方法，以通过感测车轮在各个方向上的接触来确认车轮的位置控制误差。 构成：轮驱动车辆包括轮（130）和感测单元。 车轮可旋转地安装在主体（110）的臂（120）中。 感测单元感测到车轮与地面分离的非接触状态。 感测单元包括弹簧（141），第一和第二传感器以及控制器。 当臂相对于臂驱动单元（121）的输出轴旋转时，弹簧被拉伸或压缩。 第一和第二传感器检测臂驱动信息和主体姿势信息。 控制器根据弹簧的测量长度和参考长度来检测车轮的非接触状态。
-
-
-
-
-
-
-
-
-
Search Results
40
records
(took 0.027 seconds)
