Title :
Kinematic analysis of a shotcreting robot
Author :
Xuewen, Rong ; Yibin, Li ; Rui, Song
Author_Institution :
Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China
Abstract :
The shotcreting robot has 8 joints including 3 joints coupled with others on the shotcreting robot. This paper set up the Denavit-Hartenberg Frames and deduced the kinematic equations with extra three constrain equations to decouple the linked motions. The unique analytical solution of the inverse kinematic equations was educed, which provided foundation for further research on trajectory plan, dynamics analysis and control strategies.
Keywords :
position control; robot dynamics; robot kinematics; Denavit-Hartenberg frames; constrain equations; control strategies; dynamics analysis; inverse kinematic equations; kinematic analysis; kinematic equations; shotcreting robot; trajectory plan; Concrete; Coupling circuits; Design optimization; Engine cylinders; Equations; Kinematics; Robots; Servosystems; Spraying; Trajectory; Denavit-Hartenberg Frames; inverse kinematics; shotcreting robot;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5536789
