煤矿井下机器人钻臂智能控制研究  

Coal Mine Underground Robot Drill Arm Intelligent Control Research

作　　者：宋鑫[1] 边春娜[1] 

机构地区：[1]保定广播电视大学,河北保定070000

出　　处：《煤矿机械》2013年第4期55-57,共3页Coal Mine Machinery

摘　　要：煤矿井下作业环境复杂且恶劣,经常发生危险状况,严重威胁到作业人员的人身安全及健康,通过引入机器人替代人工钻孔,能够在一定程度上减少煤矿井下事故,确保煤矿井下生产的安全性。介绍电液比例控制系统模型构建方案,对机器人多关节间的耦合及补偿进行阐述,最后对神经网络控制进行分析。Coal mine underground work environment is complex and bad, often dangerous situation, a serious threat to homework personnel＇s personal safety and health. By introducing robot replace artificial hole, can to a certain extent, reduce the coal mine underground accidents, ensure the safety of coal mine underground production. This paper first introduces the electro-hydraulic proportional control system model construction scheme, after more than on the robot, the coupling between joints and compensation is expounded, the neural network control to carry on the analysis.

关 键 词：煤矿井下作业 机器人 钻臂控制 电液比例控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]