# A Cooperative Control Method for Excavation Support Robot with Desired Position/Posture
## 5 Experimental Verification and Analysis  
In the actual space, the position/posture coordinated adjustment control system is tested, and the coordinated adjustment performance of the ESR key position/support posture is verified on site. Field testing and actual verification of ESR are illustrated in Figure 15.  
In the field test and performance verification, the ESR on both sides of the space edge has different degrees of heading deflection and lateral tilt in the initial time after startup. The difference between the distance between the key position of ESR and the side edge wall of the roadway is not as optimistic. Set the desired expected position/posture of ESR, including left declination angle \(\alpha_{Le}=0^{\circ}\), left inclination angle \(\gamma_{Le}=0^{\circ}\), left distance \(d_{Le}=1.0\) m, right declination angle \(\alpha_{Re}=0^{\circ}\), right inclination angle \(\gamma_{Re}=0^{\circ}\), and right distance \(d_{Re}=1.0\) m. The ESR position/posture monitoring system is used to collect the position/posture state at the initial moment after each ESR movement. The experimental results of the coordinated ESR position/posture adjustment control system is indicated in Tables 2-4. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Left/Right Edge Side** & **Number of Groups** & **Initial Data** & **Simulation Data** \\ \hline \multirow{5}{*}{Left edge side \(\alpha_{L}(^{\circ})\)} & 1 & 3.62 & 0.42 \\  & 2 & \(-\)2.43 & \(-\)0.31 \\  & 3 & 2.94 & 0.42 \\  & 4 & \(-\)4.57 & \(-\)0.49 \\  & 5 & 2.62 & 0.42 \\ \hline \multirow{5}{*}{Right edge side \(\alpha_{R}(^{\circ})\)} & 1 & 2.13 & 0.49 \\  & 2 & 1.64 & 0.42 \\ \cline{1-1}  & 3 & \(-\)2.36 & \(-\)0.42 \\ \cline{1-1}  & 4 & \(-\)2.81 & 0.23 \\ \cline{1-1}  & 5 & 1.92 & 0.32 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Experimental data of declination angle of ESR. Figure 15: ESR field testing and actual verification. The experimental data of the ESR declination angle adjustment on both sides of the edge space are shown in Table 2. The ESR position/posture adjustment system cooperates with five groups of declination postures, and within 15 s, the ESR declination angle on both sides is adjusted to be close to 0\({}^{\circ}\), and the declination angle adjustment result is controlled within \(\pm 0.5^{\circ}\). The minimum deviation of the experimental results from the desired expected value does not exceed 0.2\({}^{\circ}\). The experimental data of ESR scroll angle adjustment on both sides of the edge are shown in Table 3. The position/posture adjustment system cooperates with five sets of deviation postures. Within 15 s, the ESR scroll angle of the two side walls tends to 0\({}^{\circ}\), and the scroll angle adjustment data is coordinated and controlled to be no more than \(\pm 0.5^{\circ}\). The experimental data is in line with the expected expectations, and the minimum deviation value is not higher than 0.2\({}^{\circ}\). The experimental data for adjusting the distance between the ESRs on both sides to the sidewall of the space edge are shown in Table 4. After the coordinated adjustment of the position/posture adjustment system, the distance between the ESR on both sides and the side wall of the space edge can achieve the desired expected value of 1.0 m within 15 s. By adjusting the position/posture field test, the distance error to the side wall of the space edge is limited to the expected value of \(\pm 0.03\) m, and the minimum deviation between the experimental value and the desired expected value is controlled within the range of no more than 0.01 m.  
The field test data in the above Figures and Tables demonstrates that the ESR position/posture adjustment control system has a fast response speed, and coordinately adjusts the deviation position and supporting posture of the ESR in a short period of time.