A distributed drive articulated robot control system based on steering control strategy

摘要

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.