Research Article
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 |
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