Research On Detecting And Control Of Posture Of Coal Mine Rescue Robot

To solve the problem of posture detection and control for six tracked coal mine rescue robot which was independence developed in the complex environment, the method of posture analysis, detection and control for coal mine rescue robot running on uneven ground had been proposed. System's hardware and software were developed.According to motion mechanism characteristics and posture change of the coal mine rescue robot, kinematics and dynamics models of the robot in unstructured environment were established in the homogeneous coordinates. Kinematics and dynamics equations were obtained. The kinematics positive solution and inverse solution between coal mine rescue robot body and arm posture had been solved. The kinematics relationship between arm posture and body posture was obtained. The dynamic equation of arm rotating joint was established based on Lagrange equation. The relationship between torque and rotation angle of the arm rotation joint were obtained. Aiming at the unstable posture of coal mine rescue robot in complex terrain conditions, the scope of posture stability was determined through torque balance.According to the needs of position and posture analysis, posture detection and control system's hardware and software of coal mine rescue robot were designed using modularization method. Component of hardware includes posture detection module and control module. Electronic compass was used for collecting the robot posture data. The feedback of current which was connecting with torque was used for arm posture detection. ATmega8 microcontroller as the core to control the driver of motor, to collect current, was used in the posture detection control module, and RS-232 interface circuit was designed for communication. Software components include PC software and MCU code. VC++ was used in the PC data processes program. And AVR C compiler ICCAVR was used in the MCU code. Ellipse hypothesis method was used to compensate in order to suppress magnetic interference, and filtering algorithm of extreme means was used to eliminate the current signal in the noise sampling process.On the basis of the hardware and software systems, the fuzzy control strategy was adopted to carry out a series of experiments for the posture detection and control of coal mine rescue robot. The experiment results showed that coal mine rescue robot posture and control system had good detection precision and work stability, and the system can meet the needs of posture detection and control of coal mine rescue robot.