煤矿井下机械臂控制系统的分布式多关节姿态控制研究  

Research on Distributed Multi-Joint Attitude Control of Underground Coal Mine Robotic Arm Control System

作　　者：王文平 WANG Wenping(Shanxi Province Shuozhou City Emergency Rescue Team,Shuozhou,Shanxi 036000,China)

机构地区：[1]山西省朔州市应急救援队,山西朔州036000

出　　处：《自动化应用》2025年第5期109-111,114,共4页Automation Application

摘　　要：煤矿井下存在高湿度、瓦斯泄漏等危险,机械臂的精准控制对煤矿井下作业至关重要。基于此,研究机械臂控制系统的分布式多关节姿态控制,并通过实验验证其效果。实验表明,分布式多关节姿态控制的精度能提升30.77%,响应时间缩短44.08%。姿态控制中误差为0.032°,应急响应速度提高了40.64%,机械臂的撤回速度为124.8 ms。该研究成果能为煤矿井下救援机械的发展提供技术支持,有效保障煤矿作业安全。There are dangers such as high humidity and gas leakage in coal mines,and precise control of robotic arms is crucial for underground operations.Based on this,the distributed multi-joint attitude control of the robotic arm control system is studied,and its effectiveness is verified through experiments.The experiment shows that the accuracy of distributed multi-joint attitude control can be improved by 30.77%,and the response time can be reduced by 44.08%.The error in attitude control is 0.032°,the emergency response speed has increased by 40.64%,and the retraction speed of the robotic arm is 124.8 ms.This research achievement can provide technical support for the development of underground rescue machinery in coal mines,effectively improving the safety of coal mine operations.

关 键 词：分布式控制 机械臂控制系统 多关节姿态控制 煤矿井下 

分 类 号：TD263[矿业工程—矿井建设]