FIELD: physics, robotics.
SUBSTANCE: invention relates to robotics and can be used in robots designed to eliminate emergency situations, for example detecting and destroying explosive devices. The mobile robot has a platform which is mounted on a vehicle, a device for detecting obstacles, a control system with a unit for controlling movement of the vehicle and the device for detecting obstacles and connected thereto, a manipulator which is pivotally mounted on the platform and is in form of drive-fitted and pivotally connected links, the terminal link being fitted with the device for detecting obstacles, having a movable probe with a tip and a position-sensitive sensor. The unit for controlling movement of the vehicle is connected to a power supply which is connected to series-connected microcontroller, sixth amplifier and electric drive; inputs of the microcontroller are connected to outputs of the sensors of the current position, velocity, angular and linear displacements, said sensors being in form of encoders, the cog wheels of which are placed on each wheel of the vehicle.
EFFECT: invention enables a mobile robot to move on arbitrary paths, with high accuracy of detecting obstacles, approach and move away from obstacles with clearly controlled parameters.
5 dwg
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