掘进机器人截割头截割运动与轨迹仿真研究

iming at over-and-under excavation easy to occur during the control of tunneling robot in underground coal mine, in this paper, the geometric projection method was adopted to establish space mathematical model between real-time position of cutting head and size of roadway when tunneling robot in completed tilting environment. Using MATLAB software platform, we carried out control simulation of the section forming, and verified the validity of the cutting motion modeling. This study lays the foundation for the accuracy of the section shaping control of the tunneling robot.