| This paper introduces the mechanism and control system of radiation-detecting Robot in detail. The Robot is consisted of track vehicle and five freedom degree manipulator. It'motion ability is analysed by calculation and checking . According to the moving character of this Robot, kinematic equations is obtained and solved inversely. And also gives the dynamic analysis. In Robot joint space, the trajectory is planned. In addition, the paper presents the hardware and software of control system. Four kinds moving mode at various speed are complished by PC based. System current parameters can be shown on the screen. Based on what discussed above, further research on this Robot motion control can be done. |
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