Research On Estimating And Control System Of Pose And Position For Robotic Roadheaders

In recent years the intelligent roadheader is a research focus in the field of roadwaytunneling. The so-called intelligent control of roadheader refers to the intelligent control ofwalking，profiling cutting, constant power control, perception of the work state and so on. Thispaper lays emphasis on the research of the intelligent control system on roadheader pose andposition parameters.First of all, the purpose and meaning of roadheader pose monitoring is introduced, pointingout that accurate alignment control of the pose parameters is required for the robotic roadheader.The analysis of orientation method for mobile robots domestic and abroad (including intelligenceroadheader) was made, and the deficiency was pointed out.Secondly,the kinematics of the roadheader research was made, including the kinematics andexcavation multi-joint robot kinematics, the controlled area of the fuselage pose was defined,the relative between the fuselage and the cutting head was got，relative to the center of thecoordinates of the coordinate system, and finally gets the method of making coordinateconversion by cutting head center and the coordinate systems.Thirdly, based on the working process of the se and under different conditions, analysis ofthe excavation process section cut process was made, the paper pose and copy form cut cut"controlled area" concept, it is concluded that the "controlled area" mathematical model.Last but not least, the roadheader pose parameters of the measurement and control systemwas designed, and analyzes the working process while "not in controlled area",the adjustmentstrategy, and calculated the through every tank and motor adjustment pose method.This paper introduces the design of measurement device of roadheader pose parameters, andanalyzes the adjustment pose parameters of the working principle and method, and puts forwardthe roadheader intelligent cut "controlled area", the design parameters of the pose control system,This system has good adaptability and high reliability, simple operation and other advantages,can supply support for profiling cutting.