A Cooperative Control Method for Excavation Support Robot with Desired Position/Posture

Abstract

Desired deviation of the position/posture of Excavation Support Robot (ESR) have a critical impact on the efficiency of underground mining. In this paper, a control method of desired position/posture coordinated adjustment by real-time posture data and sliding position mode control algorithm is proposed. The action stroke of the non-longitudinal Adjustment Hydraulic Cylinder (AHC) is controlled by adaptively adjusting the opening and time of the Electro-Hydraulic Servo (EHS) valve, thereby adjusting the position offset and posture coordination of the ESR. The mathematical model of hydraulic system is deduced. Considering the kinematic characteristics of the ESR and the coupling relationship between the stroke and posture of the lateral AHC, a coupled kinematics model of the robot and the support body is derived. The overall structure of the posture adjustment control system and the calculation method of the stroke adjustment amount of the AHC are presented, and the controller is further optimized. The simulation analysis model and test verification system of the desired posture adjustment control system are determined. These results show that the control method is effective and significant compared with the manual control system, which can meet the functional and precision requirements of position deviation and posture adjustment.