Author(s)

Xiao Wei, Gao Qian

Corresponding Author

Xiao Wei

Abstract

Biped mobile robot is a simple mobile robot, which can accomplish some simple tasks, such as the application of explosion removal, and can take the dangerous explosives to the designated place instead of human. Single joint performance of hydraulic robot directly affects the overall control performance of the robot. Uncertainty and time-varying of hydraulic system parameters reduce the accuracy and response speed of single joint control of the robot. Therefore, robustness of single joint controller of the robot is required. The mathematical model of servo valve controlled swing hydraulic cylinder is established, the uncertainty of system parameters is analyzed, and a single joint robust controller is designed by using quantitative feedback theory (QFT). In the automatic mode, the position information of the grasped object is extracted by the ultrasonic distance sensor. The position information of the grasped object is used as the input of the fuzzy control algorithm, and the motion of the mobile robot is driven by the fuzzy control algorithm.

Keywords

Hydraulic Drive, Biped Robot, Motion Control, Wireless Remote Sensing