Research Article
Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning
Table 5
Solutions of inverse kinematics between mode 1 and mode 2.
| Solution no. | | | | | | |
| 1 | 0.094466 | 0.541054 | −0.283932 | 3.488624 | 0.706087 | 1.013583 | 2 | 0.094271 | 0.541054 | −0.285317 | 3.488475 | 0.706780 | 1.013781 | 3 | 0.094076 | 0.392774 | 0.000274 | 3.406000 | 0.707473 | 1.013979 | 4 | 0.093880 | 0.399768 | −0.014836 | 3.406000 | 0.708166 | 1.014177 | 5 | 0.011003 | 0.058919 | −0.007261 | 3.406000 | 1.007931 | 1.178817 | 6 | 0.010838 | 0.046679 | 0.015329 | 3.406000 | 1.008522 | 1.179401 | 7 | 0.010674 | 0.046678 | 0.013928 | 3.406900 | 1.009113 | 1.179987 | 8 | 0.010509 | 0.046681 | 0.012523 | 3.407808 | 1.009704 | 1.180574 |
| Pose no. | | | | | | |
| 1 | 6.061955 | 1.028885 | 2.647606 | −0.736393 | −0.116284 | 2.818948 | 2 | 6.063232 | 1.027803 | 2.642895 | −0.736463 | −0.117689 | 2.819082 | 3 | 6.064507 | 1.026721 | 2.638190 | −0.792489 | 0.007869 | 2.822333 | 4 | 6.065786 | 1.025639 | 2.633476 | −0.789817 | 0.000319 | 2.822551 | 5 | 6.655990 | 0.525765 | 0.456821 | −0.983323 | −0.278522 | 2.938954 | 6 | 6.657269 | 0.524683 | 0.452097 | −0.986286 | −0.268043 | 2.939934 | 7 | 6.658546 | 0.523601 | 0.447382 | −0.986667 | −0.269050 | 2.940218 | 8 | 6.659823 | 0.522519 | 0.442673 | −0.987049 | −0.270055 | 2.940503 |
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