Abstract: It is difficult that the seafloor robot in the mining system of poly-metallic nodules on deep seafloor moves along the plan-ning mining paths, because the seafloor robot is acted by the complicated coupling damp, its left and right tracks are slip easily. Based on ADAMS/hydraulics software, the simulation model of the moving hydraulic system of China’s 1 000 m sea-floor robot is built. Taking into account the influences of the random disturbance of its left and right tracks’ slip ratios by the complicated damp coupling effect and the hysteresis of the obtained signal by the sensors and sonars in deep water, with Matlab/Simulink and ADAMS/hydraulics software, the plan-ning velocity control model by PID controllers and the planning path-tracking control model by the fuzzy logic controller of the seafloor robot are built. After both of them are combined with the mode control of the inner and out loop, the tracking auto-matically planning mining paths’ control model and arithmetic of 1 000 m seafloor robot are established and developed. The co-simulation is carried out successfully between the models of ADAMS/hydraulics and Matlab/simulink. The simulations of the various operation situations combining the different plan-ning velocities with different planning mining paths are accom-plished in the developed control model, respectively. The simu-lated results show that the seafloor robot has better property of the tracking automatically planning mining paths to meet the demand of the mining system of poly-metallic nodule.

Key words: Co-simulation, Fuzzy control, Planning mining path, Seafloor robot, Tracking