摘 要 针对本课题组自主研发的六履带式煤矿救援机器人在复杂环境下的姿态检测与控制问题，提出了煤矿救援机器人在非平整地面上运行的位姿分析、检测与控制方法，进行了系统的软硬件研发。 根据煤矿救援机器人的运动机构特点和姿态变化，建立齐次坐标系下煤矿救援机器人在非结构化环境中的运动学、动力学模型，得出运动学和动力学方程。推导出煤矿救援机器人躯体与摆臂姿态之间的运动学正解和逆解，得出摆臂的姿态变化与躯体姿态之间的运动学关系。应用拉格朗日方程建立起摆臂旋转关节的动力学方程，得出摆臂旋转关节处的转矩与摆臂转角之间的关系。针对煤矿救援机器人在复杂地形条件下的失稳姿态，根据转矩平衡原理确定了其姿态稳定性范围。 根据位姿分析的需求，采用模块化思想开发了煤矿救援机器人姿态检测与控制系统的硬件和软件。硬件部分包括姿态检测模块和姿态控制模块。姿态检测模块采用电子罗盘对机器人躯体进行姿态数据采集，采用电流与转矩的反馈对摆臂进行姿态检测。姿态控制模块以ATmega8单片机为控制核心，进行驱动电机控制，电流采集以及RS-232通信接口电路设计等。软件部分包括上位机软件和下位机软件，上位机运用VC++编写数据处理程序，下位机采用专门针对AVR单片机设计的C语言编译器ICCAVR进行开发。为抑制磁场干扰，采用椭圆假设法对电子罗盘所采集的姿态数据进行补偿。为消除电流信号采样过程中的噪声，采用去极值均值算法进行滤波。 在所搭建的软硬件系统基础上，采用模糊控制策略对煤矿救援机器人进行了一系列的实验，实验分析结果表明，本文所开发的系统具有较高的检测精度和运行稳定性，能够满足煤矿救援机器人姿态检测控制的需求。

ABSTRACT To solve the problem of posture detection and control for six tracked coal mine rescue robot which was independence developed in the complex environment, the method of posture analysis, detection and control for coal mine rescue robot running on uneven ground had been proposed. System’s hardware and software were developed. According to motion mechanism characteristics and posture change of the coal mine rescue robot, kinematics and dynamics models of the robot in unstructured environment were established in the homogeneous coordinates. Kinematics and dynamics equations were obtained. The kinematics positive solution and inverse solution between coal mine rescue robot body and arm posture had been solved. The kinematics relationship between arm posture and body posture was obtained. The dynamic equation of arm rotating joint was established based on Lagrange equation. The relationship between torque and rotation angle of the arm rotation joint were obtained. Aiming at the unstable posture of coal mine rescue robot in complex terrain conditions, the scope of posture stability was determined through torque balance. According to the needs of position and posture analysis, posture detection and control system’s hardware and software of coal mine rescue robot were designed using modularization method. Component of hardware includes posture detection module and control module. Electronic compass was used for collecting the robot posture data. The feedback of current which was connecting with torque was used for arm posture detection. ATmega8 microcontroller as the core to control the driver of motor, to collect current, was used in the posture detection control module, and RS-232 interface circuit was designed for communication. Software components include PC software and MCU code. VC++ was used in the PC data processes program. And AVR C compiler ICCAVR was used in the MCU code. Ellipse hypothesis method was used to compensate in order to suppress magnetic interference, and filtering algorithm of extreme means was used to eliminate the current signal in the noise sampling process. On the basis of the hardware and software systems, the fuzzy control strategy was adopted to carry out a series of experiments for the posture detection and control of coal mine rescue robot. The experiment results showed that coal mine rescue robot posture and control system had good detection precision and work stability, and the system can meet the needs of posture detection and control of coal mine rescue robot.