Study On Path Planning Of An Explosive Ordnance Disposal Vehicle And Its Affiliated Robotic Arm

This thesis is focused on the issue of motion control system design of six-degree freedom of explosive ordnance disposal robot, which has been one of the key research areas in anti-terrorism robots or equipments. The following work is to complete the obstacle avoidance planning of vehicle and can complete its attach six-degree freedom manipulator trajectory tracking.The main work of this paper is summarized as follows: The kinematics and homogeneous coordinates matrix of the arms of anti-bomb vehicle are introduced in this paper; DH Law and inverse kinematics are based on the body of the six degrees of freedom arms which are simulated for solving the workspace and tracking based on a review of the performance indicators of the working space; explosive ordnance disposal robot body simulation model is then established, and finally the fuzzy algorithm applied on the arm path planning is described in detail; through the Matlab/Simulink simulation experiments for the obstacle avoidance planning and trajectory tracking, the results shows the superiority of the control strategy to verify the effectiveness of the algorithm in the anti-bomb vehicle. Finally, Through EOD robot verification in the experimental environment simulation explosive-handling robot moving obstacle avoidance path and arm trajectory planning, verify the practicability of the simulation results with experimental data.