Method for fast and accurately realizing concrete pump truck cantilever crane movement locus

Abstract

The invention discloses a method for fast and accurately realizing concrete pump truck cantilever crane movement locus. The method comprises the following steps: analyzing a movement space of the concrete pump truck cantilever crane, providing a regional planning law of the movement locus of a concrete pump truck cantilever crane system, reasonably dividing a working region of the cantilever crane, and selecting proper regional parameters, setting a transition area between adjacent regions, obtaining a target joint variable of the unique group of concrete pump truck cantilever crane system by searching the region of a tracing point, thereby substituting the traditional robot positive and inverse solution computation which can be completed by computing a large number of transcendental equations. By planning the movement locus of the concrete pump truck cantilever crane, the solution difficulty of the concrete pump truck cantilever crane system joint variable is greatly reduced, the method is a fast and accurate inverse solution algorithm, and has the characteristics of being high in automation degree and high in instantaneity.

Description

technical field [0001] The invention relates to a method for quickly and accurately realizing the movement track of the boom in the process of intelligent control of the boom of the concrete pump truck. Background technique [0002] At present, intelligent automatic pouring operation has become the development trend in the field of intelligent control of concrete pump truck boom. In the process of intelligent control of the boom of concrete pump truck, the reasonable planning of the trajectory of the boom is the premise of realizing intelligent control. The entire boom system of the concrete pump truck is driven by the hydraulic motor installed on the chassis to drive the slewing support, and the movement of each boom is driven by the hydraulic cylinder between the booms to drive the connecting rod mechanism, so as to realize various changes in the posture of the boom and complete the concrete. pouring. [0003] The concrete pump truck boom control system adjusts the displ...

AI Technical Summary

Problems solved by technology

Reasonable planning of the motion trajectory of the boom end is one of the conditions for realizing the intelligent control of the boom. Since the pump truck boom system is a set of open-loop series mechanisms with multiple degrees of freedom in space, when planning the motion trajectory of the boom end, it is necessary to However, for multi-degree-of-freedom series mechanisms, the kinematics forward solution is relatively easy, and the inverse solution has always been a difficult point in the field of robotics. Currently, the inverse transformation method, geometric method, The minimum joint norm method, etc. Most of these methods need to solve a large number of nonlinear transcendental equations, so the solution speed is slow, and there are many sets of inverse solutions at the same time, and it is necessary to search for the optimal solution. The trajectory planning process of the end of the frame is complicated, the calculation is cumbersome, and the real-time performance is poor

Due to the limitation of the calculation speed of the general controller of construction machinery, the current motion trajectory planning method is difficult to implement

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