Development of a mechatronic unit applied to the manipulation of explosives

This paper presents the development of a mecatronic unit EOD/IEDD [1] (explosive ordinance disposal/improvised explosive device disposal), by carrying out a modeling and simulation of a proposed PID control, this unit is applied to perform hazardous-duty operations. The mechatronic unit uses an interchangeable gripper, a robotic arm with 5 degrees of freedom Stanford type, a climbing system and 3 CCD cameras, from which one of them is controlled through wireless signal. Two simulations are executed, one simulation for the arm and the other for the vehicle, such that the errors in the model can be detected and later confined by control.