基于无线遥控的腿履复合型起重机器人控制系统研究

Research on control system of leg-track complex hoisting robots based on wireless telecontrol technology

采用无线遥控技术以及内嵌控制算法,搭建一种新型腿履复合型起重机器人无线智能遥控系统,用于完成空间比较狭窄以及道路状况恶劣的吊装工作。控制系统采用专用运动控制器作为控制核心,以无线遥控模块作为交互接口,利用CAN总线技术,通过内嵌的控制算法,根据实际工作要求、车身重量以及车身平面度等条件,对发动机的启停、机器人姿态调整、作业过程中车身平衡调节、机器人的行走和发动机输出功率优化等进行控制,实现不同类型场地环境下机器人的吊装工作。该系统提高了起重机器人操作的方便性和工作过程的可靠性,在操作人员与机器人距离较远时仍可完成吊装工作。

Using the wireless telecontrol technology and built-in control algorithm,a novel wireless intelligent telecontrol system of legtrack complex robots was constructed to complete the hoisting tasks in the narrow space or abominable road. The control system adopted a special motion controller as the core component for the control and the wireless telecontrol module as the interactive interface. By the built-in control algorithm and CAN bus technology,the hoisting tasks in different types of sites could be done while the engine speed and the vehicle balance was adjusted in real time according to the actual task requirements,the weight and the flatness of robot body. The control system was applied for fully automatic remote-control operation,such as engine start or stop,posture adjustment,adjusting the balance of the vehicle body,robot motion control,the output power optimization et al. The system improves the convenience of the operation of the lifting robot and the reliability in the working process. The hoisting task can be finished while the operator is far away from the robot.