摘要
凿岩钻车机械臂是一种典型的多臂多关节机器人系统。本文利用D-H坐标变换方法对ROC742露天钻车进行了运动学分析,建立了多关节钻臂的正、逆运动学方程,为实现凿岩钻车钻臂在凿岩过程中的自动定位、控制和规划的研究提供了可靠的依据。
The drilling manipulator is a typical multi-arm-and-joint robotic system. We make a kinematical analysis for the ROC742 open-air drilling machine by the D-H coordinate transformation and establish the direct-and-inverse kinematics equation of a multi-joint drilling manipulator, which provide the reliable basis for researches on automatic orientation, control and planning of drilling manipulator during work.
出处
《矿山机械》
北大核心
2009年第7期1-4,共4页
Mining & Processing Equipment
关键词
凿岩钻车
运动学方程
逆运动学
rock drilling
kinematical equation
inverse kinematics
