The Manned Hexapod Robot’s Man一machine Function Allocation and the Design of the Control System

Abstract

Due to its unique value the existing achievements of robot autonomous control cannot fully meet the requirements of harsh environment. Artificial control system which has full range of operational functions，real-time and good stability，will become the prerequisite for the task being smoothly and safely completed by the robots at the present stage. Based on the preliminary foundation about hardware system of the manned hexapod robot，the paper presents a control mode which is integrated with the principles of situational awareness and man-machine function allocation. Optimal allocation schemes through establishing a multi-objective fuzzy decision model is obtained. Finally a hexapod robot control system whose the core controller is B&R controllers is designed and achieve the real-time condition monitoring of robotic and the accuracy of motion control. at the same time the integration of the proposed human-machine function allocation algorithm and good maneuverability of the system is also verified. We provide manned hexapod robot control system as the reference in the future.

Keywords

• manned hexapod robot; situational awareness; man-machine function allocation; multi-objective fuzzy decision model