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 kinematic characteristics of the CMRSR are considered, and the spatial mathematical relationship model on position‐attitude parameters and sensor data information, roadway environment dimensions, and CMRSR structural dimensions are established. In addition, the real‐time position‐attitude of the CMRSR with respect to the roadway is recognized by the position‐attitude detection system. Then, according to real‐time roadway environment and relative position‐attitude, the expected position‐attitude parameters are set, and the adjustment parameters and types of each lateral hydraulic cylinder are selected based on different deviated position‐attitude conditions. A position‐attitude adjustment controller is designed based on the sliding mode variable structure control algorithm to achieve precise position‐attitude adjustment of the CMRSR. In addition, the position‐attitude detection system is used to provide feedback control to maintain the relative position‐attitude of the CMRSR. Finally, the practical performance illustrates high effectiveness and feasibility of the proposed control method. The average error of distance can be controlled within ±30 mm, the average error of angle can be controlled within ±0.5°, and the adjustment time can be controlled within 20 s.