一个仿真的道路刮泥机控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509291

P. Saavalainen, K. Nevala, J. Savilampi

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引用次数: 0

摘要

刮路机的自动控制系统是基于测量前车架位置和方向的六维定位系统。将实测信息与道路设计数值数据进行比较，控制系统计算出刮路机切割刀片的理想位置。本文提出了一种用两个升降气缸和一个横移气缸控制刮路机叶片位置和方向的方法。采用三角法和迭代法求解了铲路机的运动学逆解。用Igrip仿真程序验证了逆运动学。在该程序的CAD-section中对该刮路机进行了建模。仿真机构有15个关节(或自由度)，而真实机构只有6个。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A simulation of a road scraper control

The automatic control system of the road scraper is based on a 6-D positioning system which measures the position and the orientation of the front frame. Measured information is compared with the numerical road design data, and the control system calculates the desired positions for the cutting blade of the road scraper. A method which controls the position and the orientation of the blade of the road scraper with two lifting cylinders and one sideways moving cylinder is presented in this paper. The inverse kinematics of the road scraper is solved using trigonometric and iterative methods. Inverse kinematics has been verified with the Igrip simulation program. The road scraper has been modeled in the CAD-section of the program. The simulated mechanism has 15 joints (or DOFs), but the real mechanism only 6.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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