| 掘进机器人截割头截割运动与轨迹仿真研究 |
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| 引用本文： | 徐楠,童敏明,唐守锋,邓世建,贺新民,韩莉.掘进机器人截割头截割运动与轨迹仿真研究[J].煤矿机械,2011(11):51-53. |
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| 作者姓名： | 徐楠 童敏明 唐守锋 邓世建 贺新民 韩莉 |
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| 作者单位： | 中国矿业大学信电学院; |
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| 基金项目： | 科技部863计划(2007AA06ZX146110) |
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| 摘 要： | 针对煤矿井下掘进机控制过程中,容易出现超挖、欠挖等问题。以掘进机在复杂的倾斜环境中,采用几何投影法,建立截割头的空间实时位置与巷道断面范围的空间数学模型。利用MATLAB软件平台,对断面成形进行控制仿真,验证了截割运动建模的正确性,为掘进机器人断面截割成形的准确控制奠定了基础。
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| 关 键 词： | 掘进机器人 倾斜 截割头 MATLAB |
Study on Cutting Motion and Path Simulation of Tunneling Robot |
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| XU Nan,TONG Min-ming,TANG Shou-feng,DENG Shi-jian,HE Xin-min,HAN Li.Study on Cutting Motion and Path Simulation of Tunneling Robot[J].Coal Mine Machinery,2011(11):51-53. |
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| Authors: | XU Nan TONG Min-ming TANG Shou-feng DENG Shi-jian HE Xin-min HAN Li |
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| Affiliation: | XU Nan,TONG Min-ming,TANG Shou-feng,DENG Shi-jian,HE Xin-min,HAN Li(College of Information and Electrical Engineering,China University of Mining and Technology,Xuzhou 221008,China) |
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| Abstract: | Aiming at over-and-under excavation easy to occur during control of tunneling robot in underground coal mine.The geometric projection method was adopted to establish space mathematical model between real-time position of cutting head and size of roadway when tunneling robot in completed tilting environment.Using MATLAB software platform,we carried out control simulation of section forming,and verified validity of cutting motion modeling.This study lays foundation for accuracy of section shaping control of t... |
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| Keywords: | tunneling robot tilt cutting head MATLAB |
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