The rapid growth of the industry is realized by the industrial robot manipulators, which facilitate the mass production of the uniform products and fast operation in limited spaces. The demand for the multifunctional robots that have intelligent moving feature without the need for human control is rapidly increasing, and the relevant studies are underway.
The mechanical compensation of the WMR is about the internal disturbance, and is not effective for the external disturbance factors including the irregularities of driving surface or walls. The distance to the wall was measured using two ultrasonic sensors on the left and right sides of the WMR.
To verify the effectiveness of the method that this study proposed, a WMR was manufactured and used in the test.