挖掘机工作空间求解的蒙特卡洛法改进

对常规蒙特卡洛法求解挖掘机工作空间的原理、算法流程分析与仿真，发现大量随机点的分布在空间内部，边界随机点分布少，使得求解结果误差较大且效率低下。对挖掘机工作空间边界形成的内在机理分析，发现其边界的界定本质是其中两组油缸取极限值，另一组油缸为变量，而非三组油缸变量耦合，从而使得随机点的分布集中在工作空间边界。采用改进后的蒙特卡洛法对挖掘机的工作空间进行仿真，对比常规法求解，结果证明改进蒙特卡洛法求解高效且误差极小。

Improvement on Monte Carlo Method for Excavator Workspace Solving

The principles, the algorithms of the conventional Monte Carlo method were analyzed. A large number of random points is within the workspace and the points on the boundary is few, that leads to a large errors and inefficient in the result. The internal mechanism of e workspace＇s boundary was analysis. We found the essence of the definition of the boundary is the two groups of cylinders groups take the limit value, another group of cylinders is a variable, rather than the three groups of cylinders variable coupling, which makes the distribution of random points concentrated in workspace boundaries. Using the improved Monte Carlo method to simulate the excavator working space, compared to the conventional method to solve, the results show improved Monte Carlo method to solve efficiently and error is very small.