Research on motion control system of mine rescue robot

Author

Hongwei, Ma ; Hao, Tian ; Xiaopeng, Li

Author_Institution

Sch. of Mech. Eng., Xi´´an Univ. of Sci. & Technol., Xi´´an, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

1892

Lastpage

1895

Abstract

According to demand of six-pedrail mine rescue robot in a complex environment, it is designed as modularization of hardware architecture based on upper and lower processor of multi-CPU, using IPC as the central computer. The motion control system software is built though VC++. The experiments show that the system can control two drive-motors and four-arm motors well, and the demand of motion control system of mine rescue robot is met. Motion control system of mine rescue robot has good real-time, reliability, accuracy, and openness.

Keywords

C++ language; industrial robots; mining industry; mobile robots; motion control; service robots; visual languages; IPC; VC++; drive-motor; four-arm motor; hardware architecture modularization; motion control system software; multi CPU; six-pedrail mine rescue robot; Brushless DC motors; Control systems; Counting circuits; DC motors; Drives; Hardware; Motion control; Robot control; Robot motion; Robotics and automation; Mine rescue robot; Modularization; Motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262654

Filename

5262654