| Bomb attacks often occur in crowds and threat people's lives.The task of discovering and defusing bombs is extremely dangerous.It is necessary to replace human beings with robots in such task.For this aim,the Explosive Ordnance Disposal(EOD)robot prototype was developed to emancipate people from the dangerous environment.Meantime,the key technologies of the robot were researched to improve the operational efficiency and precision.Firstly,considering the places where bombs were often placed,the moving and operational requirements of the EOD robot were proposed and the design scheme of the EOD robot was optimized.Based on the application environment of robot,the crawler-type mobile chassis with the strip pattern was designed to ensure that the robot can pass smoothly through special road conditions.Upon the chassis,there are the four degrees of freedom manipulator and the pan-tilt camera.The manipulator was selected as the actuator.An information interaction system was developed to establish the communication between the operator and the robot.Secondly,the robot electronic control system was developed considering the motion control requirement of the EOD robot.Based on the redundancy control theory,the joystick/button control mode and the hand controller mode were designed for the manipulator control.A hybrid control method which can control the motors simultaneously was proposed focusing on the control problem of mobile chassis.The programs of the manipulator,the chassis motors,and the pan-tilt were written by ST,FBD and other languages.Thirdly,according to the requirement of the master-slave control,the kinematics of the hand controller and the manipulator was analyzed.In addition,the algebraic method was used to get the inverse kinematics closed-form solution of the manipulator.,The workspace point clouds were drawn based on the Monte Carlo method and the positive kinematics equations of the master-slave system.Furthermore,the mapping relationship between the hand controller and the manipulator was determined by the point clouds.The experiment was carried out to verified the feasibility of the master-slave control mode.Finally,the application of parameter self-regulation fuzzy PID controller was studied.The fuzzy PID algorithm applied to the control of joint motor was designed to meet the requirements of manipulator control precision and system response speed.The adjustment experience was transformed into the fuzzy rules,and the outputs were sent into the PID controller.The co-simulation platform was built with the robotic virtual prototype,MATLAB and ADAMS software.Meanwhile,the manipulator experimental platform was built on the basic of xPC Target.The simulations and experiments were performed using step and sinusoidal signals as the desired trajectories.The control effects of the fuzzy PID and the conventional PID controllers were verified. |
