排爆機(jī)器人控制可分為小車的行走控制和機(jī)械手的運(yùn)動(dòng)控制。小車的行走控制需要
進(jìn)行“路程規(guī)劃”以實(shí)現(xiàn)小車避障和向目標(biāo)物（可疑爆炸物）靠近，而機(jī)械手的運(yùn)動(dòng)控制需要進(jìn)行“軌跡規(guī)劃”以避開(kāi)障礙物實(shí)現(xiàn)避碰，順利抓取、搬運(yùn)目標(biāo)物。此機(jī)器人控制系統(tǒng)是開(kāi)放式系統(tǒng)，實(shí)現(xiàn)了智能化和網(wǎng)絡(luò)化。遠(yuǎn)程管理機(jī)房電腦可以顯示現(xiàn)場(chǎng)機(jī)器人手爪、目標(biāo)物、障礙物。
關(guān)鍵詞：排爆機(jī)器人 控制系統(tǒng) 網(wǎng)絡(luò)化
Control and Network System for Explosive-removal Robot WANG Chunbao1 ,JIANG Liangzhong1，LIN Zhuohua1，LI Chaoqing2 (1.College of Mechanical Engineering, South China University of Technology, Guangzhou, 510640, China) (2.HONG QI GANG GAI Manufacture Corporation,Chongqing, 402760, China) Abstract: A robot which is used to eliminate explosive objects needs to control its walking and the motion of its hand. Walking control needs so-called “making track out” to make robot shun obstacles and catch and remove the explosive object . The control system is an open system and connected in network and is intelligent .In CRT of the computer in the remote administration room, the hand of robot ,explosive object, and obstacles can be seen.
Key word: Explosive–removal robot; control system ; network