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Article take the coal mine equipment carrier for example, integrated use the robot basic theory and electro-hydraulic control system theory to research of planning steering trajectory, coordination and control its speed and so on basic theory. Design the control law, and force through the connecting rod simulation indirect validation. Through the simulation and testing of the connecting rod force indirectly proof its feasibility. For future theoretical study of multi-module and software to connect system to provide a research method.

Steering Control System About Self Propelled Split Transporter Based On The D-H Method