Design Of Remote Control System Of A Large-scale EOD Robot

After911terrorist attacks, worldwide terrorism is doing harm to thesafety of common people around the world. In order to fight against theterrorism, every country has taken effective measures to enforce theconstruction of counter-terrorism teams, including the research on the EODrobot, especially the western developed countries, and they have achievedgreat success，moreover, their EOD robots have been widely used in manycountries Though China has lagged behind in the research of EOD robots,we have made some achievements which are making contributions to theenforcement of national defense.Our research objective is to design an EOD robot which is controlledby teleoperation, and it is comprised of three parts, namely the carrier, theredundant mechanical arm and the upper monitor. The carrier is able tosurmount some obstacles, such as the slopes or staircases with a bank angleless than30°，and the redundant mechanical arm has6+1degree offreedom, which has several control modes and is easy to operate, besides,the user can operate the upper monitor to control the carrier or the redundantmechanical arm.This article mainly refers to three parts of the EOD robot, namely thedesign of redundant mechanical arm, the communication system and theupper monior.About the redundant mechanical arm, we developed the control stategy,made planar motion planning, formulated the kinematic equations of planarfour-bar linkage, designed the algorithm for the solution of those equations and made a test program to prove its effectiveness, build the softwareframework of its control system, and finished programming with EmbeddedVisaul C++4.0. And it is proved that the system worked well.About the wireless control system, we had proposed twocommunication schemes, and chose the one with less time delay. And then,we built a communication system with two sockets based on the model ofTCP/IP, which had been proved to meet the design requirements.About the design of thr upper monitor, we had built the software ofcontrol system, designed a friendly user interface, and finished theprogramming with Visual C++6.0. The system worked well, too.Finally, we built the whole system, and made some functional tests.And the test results demonstrated that the EOD robot worked well.