Stabilization control for the mobile surveillance robot using motion simulator

摘要

A mobile surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. The robot system is mounded on an UGV (Unmanned Ground Vehicle) system. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. To develop such a robot, expensive field tests are necessary. To reduce the numbers of field tests, a motion simulator that can regenerate UGV motion is a very effective tool to test the mobile surveillance robot in the laboratory environment. Virtual test of the mobile surveillance robot has been carried out using 3D CAD modeling and ADAMS dynamics and control simulation. Based on the simulation result, actual motion simulator has been fabricated. Stabilization control has been verified by testing the robot with motion simulator.