Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning

Table 3

Solutions of inverse kinematics in mode 1.

Solution no.
1	0.080018	0.456693	−0.227912	3.406000	0.757625	1.029767
2	0.079828	0.456685	−0.229316	3.406000	0.758306	1.030003
3	0.079638	0.456667	−0.230703	3.406000	0.758987	1.030239
4	0.079448	0.456642	−0.232074	3.406000	0.759668	1.030475
5	0.079258	0.456607	−0.233430	3.406000	0.760349	1.030712
6	0.079068	0.456566	−0.234769	3.406000	0.761029	1.030949
7	0.078879	0.456516	−0.236094	3.406000	0.761710	1.031188
8	0.078689	0.456458	−0.237403	3.406000	0.762390	1.031426
Pose no.
1	6.157767	0.947736	2.294252	−0.773213	−0.150869	2.833495
2	6.159044	0.946654	2.289542	−0.773320	−0.152263	2.833642
3	6.160322	0.945572	2.284829	−0.773430	−0.153649	2.833789
4	6.161599	0.944491	2.280118	−0.773545	−0.155028	2.833936
5	6.162878	0.943409	2.275403	−0.773662	−0.156400	2.834083
6	6.164155	0.942327	2.270694	−0.773784	−0.157764	2.834230
7	6.165432	0.941244	2.265984	−0.773910	−0.159120	2.834378
8	6.166711	0.940163	2.261270	−0.774039	−0.160470	2.834526