Abstract

During the climbing process of the coal mine inspection robot, the driving wheels of the robot are very easy to slip, it is very dangerous. To address this issue, an anti-skid control method based on the fuzzy theory is proposed in this paper. First, the force analysis of the driving wheel in the climbing state is carried out, and then, the driving wheel skid identification method is obtained. On this basis, a skid controller based on the fuzzy control theory is designed to reduce the robot’s slippage. The results of simulation and tests indicate that: the rule setting of the fuzzy controller is reasonable; the controller has strong robustness; the inspection robot based on fuzzy control can effectively restrain the sliding phenomenon of driving wheel and meet the requirements of mine inspection when the robot climbs the slope.

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