Expected position and attitude adjustment control method of coal mine roadway support robot

Abstract

This paper proposes an expected position-attitude adjustment control method of coal mine roadway support robot (CMRSR) based on a real-time position-attitude detection system. Taking advantage of lateral adjustment mechanism and control method, the CMRSR has flexible maneuverability and high dynamic expected position-attitude adjustment performance. It can guarantee stability and safety of the relative position-attitude in time-varying roadway environment in underground coal mines. First, the structural characteristics, hydraulic system characteristics, and