Research on the pose error elimination control method for boom-type roadheader

Based on the roadheader pose error detection system successfully developed, This paper studies the roadheader pose error elimination control method. By analyzing the way of pose error appearance and drafting principle of control strategy, this paper proposes the pose error control method for boom-type roadheader and the specific control mode basing on the actual investigation. The research of related hardware control system is completed. The control method can be applied to the current coal roadway excavation work and lay foundation for the realization of automatic directional tunneling and excavation remote control.