Research Article
Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning
Table 4
Solutions of inverse kinematics in mode 2.
| Solution no. | | | | | | |
| 1 | 0.005281 | 0.046679 | −0.031888 | 3.440453 | 1.028433 | 1.200126 | 2 | 0.005119 | 0.046679 | −0.033265 | 3.441585 | 1.029013 | 1.200762 | 3 | 0.004957 | 0.046679 | −0.034638 | 3.442723 | 1.029592 | 1.201399 | 4 | 0.004794 | 0.046679 | −0.036011 | 3.443869 | 1.030171 | 1.202038 | 5 | 0.004632 | 0.046680 | −0.037382 | 3.445021 | 1.030749 | 1.202678 | 6 | 0.004470 | 0.046682 | −0.038755 | 3.446179 | 1.031327 | 1.203319 | 7 | 0.004308 | 0.046683 | −0.040128 | 3.447345 | 1.031905 | 1.203963 | 8 | 0.004146 | 0.046682 | −0.041498 | 3.448517 | 1.032482 | 1.204607 |
| Pose no. | | | | | | |
| 1 | 6.700704 | 0.487896 | 0.291913 | −0.999891 | −0.300959 | 2.949828 | 2 | 6.701981 | 0.486814 | 0.287199 | −1.000311 | −0.301886 | 2.950126 | 3 | 6.703259 | 0.485732 | 0.282486 | −1.000733 | −0.302810 | 2.950425 | 4 | 6.704536 | 0.484650 | 0.277768 | −1.001155 | −0.303733 | 2.950724 | 5 | 6.705813 | 0.483568 | 0.273064 | −1.001579 | −0.304650 | 2.951024 | 6 | 6.707091 | 0.482486 | 0.268356 | −1.002004 | −0.305566 | 2.951324 | 7 | 6.708368 | 0.481404 | 0.263644 | −1.002430 | −0.306481 | 2.951625 | 8 | 6.709646 | 0.480322 | 0.258920 | −1.002857 | −0.307394 | 2.951926 |
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