排爆机器人控制与无线通讯系统

排爆机器人控制可分为小车的行走控制和机械手的运动控制。小车的行走控制需要
进行“路程规划”以实现小车避障和向目标物（可疑爆炸物）靠近，而机械手的运动控制需要进行“轨迹规划”以避开障碍物实现避碰，顺利抓取、搬运目标物。此机器人控制系统是开放式系统，实现了智能化和网络化。远程管理机房电脑可以显示现场机器人手爪、目标物、障碍物。
关键词：排爆机器人 控制系统 网络化
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