以國(guó)內(nèi)某公司的四臂混凝土泵車(chē)作為控制對(duì)象，運(yùn)用機(jī)器人運(yùn)動(dòng)學(xué)，建立其運(yùn)動(dòng)學(xué)模
型，基于該模型給出泵車(chē)運(yùn)行軌跡優(yōu)化問(wèn)題?？紤]系統(tǒng)利用PLC 控制器實(shí)現(xiàn)，因此提出了一種新的快速簡(jiǎn)便的泵車(chē)的控制系統(tǒng)優(yōu)化算法。經(jīng)Matlab 仿真實(shí)驗(yàn)，該算法運(yùn)算時(shí)間少，明顯比工人手工操作能更快更好的到達(dá)目的點(diǎn)。
關(guān)鍵詞：機(jī)器人運(yùn)動(dòng)學(xué);混凝土泵車(chē);軌跡優(yōu)化問(wèn)題;Matlab 仿真

Abstract: In this paper, the concrete pump truck offered by the domestic company was taken as the control object to establish a kinetics model based on the theory of robot kinetics. With this model, a simple and fast optimizing algorithm is proposed to solve the track optimizing problem with considering the fact that the system will run on PLC. Good results can be obtained by our algorithm in simulations on Matlab.
Key words: robot kinetics、concrete pump truck、track optimizing problem、simulation on Matlab