A distributed drive articulated robot control system based on steering control strategy
In order to improve the motion control characteristics of articulated rock-drilling robot, an articulated robot chassis structure with encoder expansion link and distributed electric wheel is designed, and a steering control strategy based on push rod pose feedback is proposed. Based on Adams/Simulink co-simulation, the steering control strategy model is built. The motion of the articulated rock drilling robot in various working conditions is analyzed by co-simulation experiment. Compared with the traditional control strategy, the steering time of the articulated rock-drilling robot by the steering control strategy is increased to 13.87%, and the steering distance is reduced to 16.95%, which effectively improves the steering ability of the robot.
Authors
- Sanpeng Deng (ORCID: https://orcid.org/0000-0001-5398-0741)
- Yunfei Su (ORCID: https://orcid.org/0000-0002-3359-0014)
- Hao Sun (ORCID: https://orcid.org/0000-0003-3750-1856)
- Hongchang Sun (ORCID: https://orcid.org/0000-0001-5251-8571)
- Dongcheng Ren (ORCID: https://orcid.org/0000-0001-5037-5271)
- Longfei Wei
- Yongxiang Jiang (ORCID: https://orcid.org/0000-0002-1683-964X)
Institutions
- Tianjin University of Technology and Education (CN)
- Hebei University of Technology (CN)
Publication Details
- Published
- 2024-08-04
- DOI
- https://doi.org/10.1109/icma61710.2024.10633047
- Citations
- 2
- Primary Topic
- Control Systems in Engineering
- Type
- article
- Field-Weighted Citation Impact
- 0.43
Funders
- Technology Development