EOD robot mechatronic modelling and trajectory optimization through Chebyshev polynomials

The present work analyses, models and simulates through multibody software the behaviour of EOD (Explosive Ordnance Disposal) robot in order to identify its performances and to optimise them. Firstly, the direct and inverse kinematics has been studied by using the Denavit-Hartenberg notation, focusing on the EOD manipulator. Subsequently, the robot trajectories formulated as linear combination of the Chebyshev polynomials were optimised to reduce the overall energy required to perform the required task. After modelling the electric motors driving the robot actuators and their PI controllers in Simulink, these outcomes have been imported in ADAMS through to take into account the electro-mechanical behaviour of the actuators.