抄録
A mobile surveillance robot consists of a machine gun module, motor and driver systems, a color CCD camera, an imbedded control system and a AHRS(attitude and heading reference system). It has two axis control systems for pan and tilt joints. This robot system is mounded on a vehicle system or an unmanned ground vehicle(UGV). Thus, it requires to have a stabilization system to compensate the disturbance from the vehicle. To test the stabilization system of the mobile surveillance robot in the laboratory environment, a vehicle motion simulator has been used to can generate vehicle motion. Virtual test of model of the mobile surveillance robot has been first carried out using virtual model and virtual motion simulator to validate stabilization algorithm. The test version of the mobile surveillance robot has been then introduced. With the test version, the mobile surveillance robot, stabilization control has been verified using 6 D.O.F. a stewart type of motion simulator.
