Application of the Motion Control System for Mine Rescue Robots

ABSTRACT

The solution of motion control system is proposed, researched and developed according to six-pedrail mine rescue robot. According to different motion types, motion analysis of main drive module and arm drive module is analyzed individually. The method of modular design is used by hardware part and soft part of motion control system of mine rescue robot. Hardware part includes host computer module, main drive module and arm drive module. The Hall sensors are used by position control or velocity control of main drive module and arm drive module. The soft part includes host computer module program, main drive module program and arm drive module program. A series of experiments of motion control system of mine rescue robot is done, and data of experiments is analyzed in the end. The research shows that motion control system developed meets the requirements of mine rescue robot because of good precision and real-time.

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