Research on Intelligent Control Method of Rock Drilling Manipulator Based on Force Control Sensor

摘要

Rock drilling is a difficult, time-consuming, poor working conditions, and very critical operation process. In modern mining and large-scale infrastructure construction, the use of traditional drilling equipment has gradually exposed many disadvantages, such as increased labor costs, poor construction environment, the proficiency of operators has a great impact on the quality and duration of rock drilling, and the safety of construction personnel is not effectively guaranteed. Under this background, the rock drilling robot emerged to meet the requirements of modern society for high-efficiency excavation and intelligent rock drilling equipment. This paper summarizes the research status of rock drilling manipulator, analyzes the development status of rock drilling manipulator, describes the typical products and models, analyzes the existing kinematics solution methods of rock drilling manipulator, and further compares the advantages and disadvantages of various force position control methods.