Kinematic Cooperative Optimization Control Algorithm for Underground Heavy-Load Robot

Abstract Because of complex and strong coupling system, the precision adaptability underground robots are greatly restricted. Based on newly developed intelligent heavy-load robot which is still a gap to fill in current coal mine machinery, this paper proposes new dynamic cooperative optimization control algorithm. Firstly, strongly coupled Multi-disciplinary Design Optimization system decoupled into horizontal/vertical motion space with idea hierarchical target transmission, order weaken relationship between each hydraulic loop. Then, spatial posture coefficient introduced main/auxiliary feedback loop space, realize optimal collaborative under premise weak loop, so as obtain precise signals finally overall for robot. Lastly, experiment simulation verify that DCO algorithm presented can better results: The executive efficiency improved by 14.2%; flow saved 9.98%, meets engineering technical requirements. This provides efficient method robots. Furthermore, has reference value development design high same kind machinery products.