Stability Control for Medical Rescue Robot in Unconstructed Environment

摘要

The mobile manipulators have become more and more popular because of its flexible operation space. However, how to protect the people on the mobile rescue robot to against the impact from unconstructed environments like the battle field or disaster is still an underexplored problem. The stability control problem is addressed in this article by devising a disturbances rejection method for medical rescue robot. We indicate that the designed method keep the posture of the end of the manipulator stable by controlling the motors of pitching direction and rolling direction. The vertical vibration can be weakened by the damping system of the rescue robot, such as spring, damper and damping materials. The wounded carried by manipulator of the rescue robot may not suffer secondary damage as the end of the manipulator always remain stable. Simulations implementations are performed to validate the proposed method and performance metric with a mobile rescuing manipulator.