DocumentCode :
2437858
Title :
Heavy Explosive Removing Robot Control Technique Research
Author :
Gao, Junyao ; Gao, Xueshan ; Zhu, Jianguo ; Zhu, Wei ; Wei, Boyu ; Wang, Shilin
Author_Institution :
Sch. of Mecha-Electron. Eng., Beijing Inst. of Technol., Beijing, China
Volume :
1
fYear :
2009
fDate :
26-27 Aug. 2009
Firstpage :
85
Lastpage :
89
Abstract :
Explosive removing robot is a kind of unmanned equipment to dispose dangerous explosive instead people. It is very important because there are many explosives threaten the security of the world. This paper introduces research work of a heavy explosive removing robot, 450Kg, lift weight is 50Kg. Main technique include: machinery, electronic, sensor, navigation, motor, computer control communication, remote control, storage batter, etc. Explosive removing robot has move ability and search function and grasp function. It can remove explosive to appoint point when people is in safe place. Explosive removing robot cross ability is strong, press force to ground is small, it is suitable to sand, grass, soft ground. It can adapt varies terrain. Explosive removing robot is water-proof, sand-proof, and vibrate-proof. Adapt low temperature and high temperature. It has a 7 joints long arm to catch explosive. It is easy to control catch work. It can catch object in puddle, under car, in explosion-proof tube, etc. Grasp force is controlled. Main camera is high, suitable to search explosive on unknown field. 5 Cameras ensure search and catch work is easy. It has monitor system to protect robot. It has alarm, auto-stop, and remote control restart functions. If battery is exhaust, a new battery can be instead easily. This heavy explosive removing robot is advantage and reliability. This robot can rescue people before explosive.
Keywords :
alarm systems; explosives; force control; manipulators; mobile robots; remotely operated vehicles; telerobotics; alarm function; autostop function; catch work control; computer control communication; dangerous explosive disposal; electronic system; explosion-proof tube; grasp force control; heavy-explosive removing robot arm control technique; machinery system; mobile robot; monitoring system; motor system; navigation system; people security; remote control restart function; robot ground-pressing force; search function; sensor system; storage batter; unmanned equipment; water-proof sand-proof vibrate-proof robot; Batteries; Cameras; Communication system control; Explosives; Force control; Land surface temperature; Machinery; Robot control; Robot sensing systems; Robot vision systems; explosive removing; mobile robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on
Conference_Location :
Hangzhou, Zhejiang
Print_ISBN :
978-0-7695-3752-8
Type :
conf
DOI :
10.1109/IHMSC.2009.30
Filename :
5335924
Link To Document :
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