机械铲式挖掘机机器人化的探讨
DISCUSSION ON THE ROEOTIZATION OF MECHANICAL MINING SHOVEL
-
摘要: 本文就机械铲式挖掘机机器人化过程中需要研究的内容、可能出现的问题进行探讨.指出不但要进行挖掘机运动学、动力学的分析研究,还要对挖掘轨迹的选择与数学描述、挖掘阻力的变化规律等问题进行研究.在此基础上对挖掘机工作过程的自动控制系统的结构提出了建议,指出该系统不但要满足控制精度的要求,还应尽可能地利用挖掘机现有技术条件,并考虑非线性环节对系统的影响.Abstract: The major problems and substances in the development of the robotization of mechanical mining shovel were discussed in this paper,and the proposals of how to carry out the study of kinematics and dynam-ics and how to realize the automatic control system of the working processes were putforward.