LI Bo1, Zhang Jin1, LI Guo dong2

 

(1. Shanghai Electric Control Research Institute, China South Industries Group Corporation, Shanghai 200092,

 

China; 2. College of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China)

 

 

Abstract: Aiming at the problems of explosive ordnance disposal (EOD) robot manipulator accurate positioning by remote control, the kinematics analysis, dynamic analysis and distributed control theory were applied on the manipulator control system design. The motion feature and control principle of manipulator was analyzed. The hardware and software were designed specifically. The overall structure of manipulator and main parts parameter were confirmed. The LPC2378 was used as core in main controller and LPC2368 was used as core in coprocessor. The CAN BUS 2.0B was adopted to communicate between main controller and coprocessor. A manipulator control system based on modular design and multiple sensor intelligence fusion was put forward and tested in various conditions. The experimental results indicate that the robot manipulator technical criteria can be achieved, and it can remotely position, demolish the blasting machine and transport explosive which indicates the EOD robot is able to counter terrorist to some extent.

 

Key words: explosive ordnance disposal (EOD) robot; manipulator; control system; modular design; intelligence fusion