CAJ | 학술논문

履带式移动机器人在军事侦察、反恐防暴、防核化及污染等危险与恶劣环境作业中有着广阔的应用。本机器人控制系统采用了DSP结构的嵌入式伺服控制系统以及遥控/半自主的工作方式，使得机器人工作更具实用性，而嵌入式控制系统则保证了控制系统重量轻、体积小、实时性好、可靠性高的要求。机器人带有多功能机械手臂，现场视频实时传输，履带式移动平台和远程控制相结合。
리대식이동궤기인재군사정찰、반공방폭、방핵화급오염등위험여악렬배경작업중유착엄활적응용。본궤기인공제계통채용료DSP결구적감입식사복공제계통이급요공/반자주적공작방식，사득궤기인공작경구실용성，이감입식공제계통칙보증료공제계통중량경、체적소、실시성호、가고성고적요구。궤기인대유다공능궤계수비，현장시빈실시전수，리대식이동평태화원정공제상결합。
Tracked mobile robots are widely used in military surveillance, anti-terrorism riot, nucleation and pollution prevention, and in other dangerous environments. The robot control system, adopting the structure of DSP embedded servo control system and remote control/semi-autonomous work style, making it work more practi-cal. The embedded control system ensures light weight, small volume, good real-time, and high reliability of the robot. The robot facilitates with a multifunctional mechanical arm, crawler mobile platform, and can realize scene video real-time transmission, and remote control.