文档介绍：上海交通大学硕士学位论文反恐排爆机器人控制系统设计姓名:徐琰申请学位级别:硕士专业:机械工程指导教师:张伟军;胡传平 20100501 ???????????????? I 反恐排爆机器人控制系统设计摘要???????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? RS-485 ?????????????????????? ARM ??????????? SPN ???????? 2 ? PC104 ??????????????????????/ ???????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? II ????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????关键词: ???????????????????????????????????????????? ABSTRACT III DESIGN ON CONTROL SYSTEM OF EOD ROBOT ABSTRACT Applied to the detection, re moving and disposal of hazardous substances like explosives and suspicious explosives etc., anti-terrorist EOD robots are the important equipemnts for polices to decrease the casua lty in the disposal sites and secure the society stability. Powered by a diesel engine and generator, walked by a caterpillar type walk machine, equipped with large size mechanical arms which own multiple degree of freedom, the robots can achieve complex grabing acts plicated physical spaces through grabing large hazardou s substances or inspection equipments. Their power supplies can meet the requireme nts for robots to operate for a long time. Based on the requirements of the assignment book for key project “Study on system of anti-terrorist EOD robot” of Shangha mittee of Science and Technology, a control system used for anti-terrorist EOD robots has been developed in this paper. Due to plicated situation and the environment full of unstructured barriers in disposal scienc es, it i