摘要
针对步履式挖掘机自动控制的需求,设计了一种步履式挖掘机姿态调平规划方法,使用向量描述了步履式挖掘机支腿与底座之间的角约束关系,使用向量长度以及各向量表示的支腿与底座的铰接关系确定姿态调平的目标位置,解算结果能够满足地面对轮的约束;通过仿真验证该方法能够对目标位置进行解算,且在各个支腿起始端均位于底座上的同时,末端位置共面。
To apply automatic control between base and four legs by vector, legs and base. The simulation results every wheel is on the ground. technology on walking excavator, this and then calculates the desired location show that the method can correctly give paper describes the angle by the articulation of four the desired location, and
出处
《兵器装备工程学报》
CAS
2017年第9期117-120,共4页
Journal of Ordnance Equipment Engineering
关键词
步履式挖掘机
姿态调节
运动学逆解
walking excavator
attitude adjustment
inverse kinematics
