The Control and Simulation of the Live Washing Robot Based On the 6-DOF Manipulator

Against the shortcomings of the live washing artificially, this paper puts forward a system about live washing robot, this system contains hydraulic system, video surveillance system, automatic regulatory system, communication system and motion control system. These subsystems can cooperate to complete live washing tasks. The operator commands manipulator and car from a cabin on the truck via a portable control box. In order to protect the operator, this system takes use of the wireless communication. This robotic system can finish the washing task perfectly instead of human. As for the inverse kinematic about the manipulator, this paper puts forward a new algorithm which is combined geometric method with algebraic method and confirms it's correctness by simulation.