Research On Plan And Control Technology Of Excavator-Robot

After analyzing the history and present situation of excavating robot systematically, and aiming at solving the main problems of the excavating robot test-bed designed by our lab, this paper focuses on the planning and control techniques of excavating robot and has resolved the following four issues.1. On the basis of the presentation of four types of kinematical space, the present work studies the kinematics problems and proposed its solution. The concepts of the blind position and the blind angle and the algorithm dealing with them are approached. The method in present research is effectively used to solve problem of path planning.2. Based on the analysis of current planning system, combining with the operating characteristics of construction machinery, the problem how to build up a perfect planning system is discussed, and also the relations among the components of the planning system. Emphasis is put on the path-plan level and trajectory-plan level according to the conditions we have. The planning method based on knowledge is proposed. Based on the analysis of current control technology, combining with the operating characteristics of construction machinery, the intelligent PID control method is proposed, which is proved effective.3. Current study situation of robot off-line programming system is summarized, and the design framework and implementation of every function modules of excavating robot off-line programming system are discussed. A new method that making use of VxD to enable WIN32 application to perform real-time control function is proposed.4. The design and implement techniques of the two-level computer control system for excavating robot are introduced. After analyzing the function distribution between the upper-level computer and the low-level computer, the design techniques of the hardware and software of the real-time control are discussed. At last, the communication method based on CAN bus is proposed.In the end, a summary and prospects of the whole work are presented.