| EOD robot is the most typical robot of the teleoperation robot. This research paper is supported by National 863 Projects"EOD Robot Research","Fire Reconnaissance Robot Research"and the National Natural Science Foundation Project (Teleoperation Performance Research). From the system perspective, this paper analysed and studied the major impact factors of EOD robot teleoperation performance. From feedbacks of EOD robot users, current EOD robot performance is far away from the actual demand, mainly manifested in the poor safety in operation, low efficiency and high level of operator tension. This paper is focused on it and will help to give a guide to EOD robots design.This paper started from semi-autonomous bomb fetching of EOD robot. Based on the analysis of EOD operation's bottleneck, which is how a operator can fetch bombs by watching the two-dimensional video images, a new method for locating explosives was innovatively given by the author, which was based on laser ranging environmental modeling and bomb positioning. The intelligent A* search algorithm was used to achieve a manned autonomous bomb fetching. In addition, we tried to use binocular stereo vision to obtain explosives positioning. But experiment results show that the binocular vision positioning has great errors due to the mobile character of EOD robot and the lack of precision of the mobile manipulator. Therefore, its application has a lot of restrictions. Finally, we come to an important concept, EOD robot teleoperation performance. How to improve the performance from the system view is the main task of next chapter.The concept of EOD robot teleoperation performance was brought out and the elements which affect the EOD robot teleoperation performance were analysed. In the performance and functions of teleoperation robot, people require that they can do more difficult jobs in more complex and unstructured environments. Each of the 6 key Class I performance elements of EOD robot teleoperation is the sum of several Class II performance elements. These Class II performance elements could affect other Class I performance elements. All these performance elements give clues about how to improve the teleoperation performance of EOD robot. By evaluating the performance of robot system, it will be clearer to know the relationship between the volume and the essence. It will help to find out the root reason and to accelerate the teleoperation robot technology and to improve the teleoperation performance. According to different uses, EOD robot is devided into three types. For each type, the weight coefficients are given both for Class I and Class II performance elements. A example based on a reconnaissance EOD robot was given.This paper took a proposal decision-making for EOD robot mobile carriers. By AHP, a most appropriate form of mobile carrier was selected for SUPER-II EOD robot from the 5 types: wheeled style, tracked style, joints style, joints-wheeled style and joints-tracked. After the analysis the Limitations of traditional 3-joint EOD robot, a 6-DOF manipulator was designed. A redundant DOF inside main working plane, a waist rotational DOF and a forearm transportation DOF were added, which expanded robot operation to a much larger space, increased the accuracy of EOD operation, improved efficiency of EOD operation and greatly enhanced the robot operation scope and flexibility. The 3D working envelope was given for the 6-DOF EOD manipulator.The safety characters are discussed. One efficient way to improve the manipulator's safety perfoamance is to make the joints of the manipulator move with cooperation. The kinematics of the 6-DOF EOD manipulator is simplified by a new way. Consequently, the three-arm cooperation movement concept is applied into EOD robot, which greatly increased the operational safety and efficiency. And the cooperation movement equations were deduced. Based on mutle-sensors fusion, especially wrist force sensor's fusion, the anti-rollover of the robot and submissive control of the manipulaotor are realized. By combining robot encoder data with ultrasonic sensors data and using ICP algorithm, we deduced a retracement path algorithm in case of unexpected communication disruption. A compressed air based paw was designed especially for the EOD robot. It has a gentle clamping machine, a strong clamping machine and a safe holding machine. Its few DOFs and high fetching performance make the bomb fetching more safe and efficient.The applications of MCU on EOD robot are analysed, including PLC, single-chip controller, ARM embedded system and DSP. By Comparing with the control system of an industrial robot, the EOD robot sensing system should be emphasized on the limited software and hardware resources of EOD robot. From characteristics of teleoperation robot to transfer the the surrounding environment information to distant operator in real-time, the paper analysed the sensor interface of EOD robot. Using VC++ and OpenGL as a tool, we innovatively brought visual telepresence and force telepresence of virtual reality to EOD robot system. Through a variety of sensors the remote EOD robot's interaction information with the environment will be presented to the local operator in real-time, which generates the same virtual environment with the remote environment. Therefore, it allows operators to have a realistic feeling to achieve flexible control of the robot to complete their tasks.By structuring the coordinate system framework of EOD operation, the mental load of the operator was studied, which was inevitably caused by the psychological transformation of video graph (such as rotation, translation, scaling, deformation) when the operator drives the master robot to operate the slave robot by watching one or more video screens. The target is to construct a reasonable man-machine interface to make these mental load less and to reduce operator training time and improve the performance of operation, expand the pool of operators.
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