In recent years, intelligent machinery has been favored, and the mobile robot industry is also developing rapidly. In order to improve maintenance efficiency and safe operation management, maintenance machinery is also in urgent need of intelligent transformation.With the development of science and technology and robot industry, mobile robots began to move from structured environments such as factories and laboratories to unstructured environments such as tunnels, mining areas, and water, and entered the team of road surface maintenance and maintenance machinery, and their task requirements gradually developed from welding, handling, installation and other process-oriented work to irregular and changing task scenarios such as inspection, maintenance, and replacement. When performing tasks in an unstructured and complex environment, the maintenance robot system has inherent nonlinear characteristics and the model is inaccurate or unknown due to the disturbance of the external environment, and cannot be tracked and controlled under the accurate model. In addition, the response speed and continuous stability of the manipulator work will be affected when the maintenance robot is physically constrained and interfered with by the outside world, so this paper comprehensively uses the intelligent control method and the environmental information fusion control method, based on the tunnel lighting maintenance robot prototype developed by this topic, and conducts in-depth research on the control system of the manipulator arm and its end in terms of external interference, shaking at the end of the manipulator, response speed, etc.

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