Influence of an EOD engineer robot manipulator structure on the effector's accuracy using intuitive control system

摘要

Neutralization hazardous materials still creates many problems. For this purpose is often used an EOD (Explosive Ordnance Disposal) engineer robot manipulator equipped with hydraulic drive system and intuitive control system. Application of intuitive control systems mainly improves the accuracy of performing tasks by copying and tracking the movements of the operator's hand. However, it wasn't found any information about influence of this kind of manipulator's structures on the effector's accuracy using intuitive control systems. Taking this into consideration the research of two kinematic structures of this manipulators (serial and serial-to-parallel) were performed. On their basis has been achieved an improvement in control accuracy for serial-to-parallel structure. The simulation studies included investigation of nonlinearities and dynamics of an electrohydraulic proportional valve as a hydraulic control element of manipulator hydraulic drive system.