DocumentCode
3369170
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
fYear
2010
fDate
26-28 June 2010
Firstpage
2640
Lastpage
2643
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5536789
Filename
5536789
Link To Document