Design On Control System Of Eod Robot

?Applied to the detection, removing and disposal of hazardous substances like explosives and suspicious explosives etc., anti-terrorist EOD robots are the important equipemnts for polices to decrease the casualty in the disposal sites and secure the society stability. Powered by a diesel engine and generator, walked by a caterpillar type walk machine, equipped with large size mechanical arms which own multiple degree of freedom, the robots can achieve complex grabing acts in complicated physical spaces through grabing large hazardous substances or inspection equipments. Their power supplies can meet the requirements for robots to operate for a long time. Based on the requirements of the assignment book for key project"Study on system of anti-terrorist EOD robot"of Shanghai Committee of Science and Technology, a control system used for anti-terrorist EOD robots has been developed in this paper.Due to the complicated situation and the environment full of unstructured barriers in disposal sciences, it is difficult for robots to walk and operate autonomously, so robots are controlled through a combined control mode of remote control and local self-control. To aim at the requirements of movable carriers, multiaxial coordinated movement and remote control operation, a RS-485 bus architecture based distributed host and sub machines control system framework is brought forward. Based on the ARM controller of host machine as a master station, the SPN movable carriers of sub machines and two PC104 controllers of mechanical arm articulation as sub stations, the robots are remotely operated by using multichannel redundant wire/wireless communication. Based on the host machine as dominant machine and the sub machines to response and feedback in real time, the communication protocols among sub systems are established and the solutions to resolve the data contention during multidrop communication are brought forward. The coordinated control between movable carriers and mechanical arms is carried out. The botom local self-control is carried out through a botom local self-control software. Furthermore, saved as a database, an computer aided programming for host machine is designed as the backup for robot remote control to greatly enhance the reliability of control system and the traceability of explosives disposal process. The control system of anti-terrorist EOD robots developed by this project is already applied in anti-terrorist EOD robots successfully, it can control the walk of movable carriers and the complex operation of multiple degree of freedom mechanical arms effectively.It meets all the conrtol requirements of anti-terrorist EOD robots and establishes a technical basis for this project to pass the acceptance of Shanghai Committee of Science and Technology. ?...