Development of Control Algorithms for Performance Evaluation and Functional Testing of Sampling Manipulators in Unmanned Ground Vehicles

Funded by: KAERI (Korea Atomic Energy Research Institute)
Period: 2022 – 2023
Keywords: Manipulator control, UGV, Functional testing, Ground sampling

Overview

This project developed control algorithms for a sampling manipulator mounted on an Unmanned Ground Vehicle (UGV), targeting performance evaluation and functional testing in field-deployable conditions. The system is intended for ground sample collection in environments inaccessible or hazardous to humans.

Key Contributions

Defined motion sequences and performance evaluation metrics for functional testing
Designed control algorithms and established the testing environment and procedures
Analyzed test data and addressed issues related to vibration, trajectory error, and repeatability

System Design

Manipulator Configuration

Control Algorithm

Functional Testing & Results

Motion Sequence Validation

Performance Data

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Last updated: April 2026