Modeling, simulation and control for an underground roof support as two robotic arms

In this paper, an underground roof support as two robotic arms is first considered. Based on robotic formalism, the cinematic direct and inverse models there were developed and simulated. Based on the simulation results was designed and implemented a software-oriented controller for the PC. The underground roof support is hardware interfaced to PC. By the controllerpsilas Graphic User Interface the overall system performances can be tested and evaluated.