自行式混合臂高空作业车特殊轨迹研究
Rearch on special locus in self mixing arm aerial working platform
本文采用D-H法对自行式混合臂高空作业车的回转和工作机构进行运动学建模,利用操作空间与关节空间的运动学关系,结合现有的控制方式,将空间特殊轨迹离散化处理,与机器人PTP轨迹规划相结合,分析了高空作业车工作栏实现特殊轨迹运动的方法,通过仿真实验,证实该方法的可行性。从而实现高空作业车的自动化控制。
his paper establishes the kinematic model for rotating and working mechanism of self propelled crank type aerial working Platform through D-H method.After thinking about the relationship between operating space and joint space, combing with existing ways of control and PTP theory , through disperse special locus,a method that how to achieve special locus movement is analyzed, and then proves its feasible.
张奕、徐虎、王磊
自动化技术、自动化技术设备工程基础科学工程设计、工程测绘
-H法运动学关系特殊轨迹PTP
-H methodkinematic relationshipspecial locusPTP
张奕,徐虎,王磊.自行式混合臂高空作业车特殊轨迹研究[EB/OL].(2013-01-11)[2025-08-18].http://www.paper.edu.cn/releasepaper/content/201301-556.点此复制
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