Intelligent demolition robot: Structural statics, collision detection, and dynamic control

This paper presents a modified oriented bounding box method and a compound control law for the developed intelligent demolition robot working safely and accurately in a high-radiation environment. Combining statics and kinematics, the modified oriented bounding box method is applied to predict the real-time and accurate collision detection of possible collisions. The Newton–Euler method is then adopted to derive the dynamic model. A compound control law based on dynamic feedforward torque and proportional integral derivative feedback torque is established to achieve high-accuracy control. Furthermore, a simulation system and experiment prototype are developed to verify the functions of collision detection and dynamic control. Simulation results demonstrate that the modified oriented bounding box method predicts the collision detection properly. Compared with the traditional proportional integral derivative control law, experimental results demonstrate that the compound control law realizes higher tracking accuracy within 0.04 m for the intelligent demolition robot.