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为实现挖掘机作业自动控制,建立了挖掘机工作装置4自由度运动学模型。根据变量性质,将挖掘机工作装置分为4种工作空间:驱动空间、关节空间、位姿空间和检测空间。从运动学正解、逆解问题出发,充分利用挖掘机工作装置各构件间几何关系,分别求出了各工作空间之间位置及速度的非线性映射关系。结论为运动控制器设计提供了理论指导。
In order to realize the automatic control of excavator operation, a 4 DOF kinematics model of excavator working device was established. According to the nature of the variables, excavator work device is divided into four kinds of work space: drive space, joint space, pose space and detection space. Based on the kinematic positive solutions and the inverse solutions, the geometrical relations between the components of the excavator working device are fully utilized to obtain the nonlinear mapping relationship between the workspace and the velocity respectively. Conclusion provides a theoretical guide for the design of motion controller.