CAJ | 학술논문

针对救援工程机械在复杂环境下的控制问题，利用工程机械机器人化思想，文章提出了3种不同的控制方法，满足了在救援过程中不同的动作要求，确保了动作的稳定、准确与可靠；同时根据新型救援工程机械机械臂手末端能动机械装置的冗余性，结合其大尺寸结构与变负载工况特点，运用D-H法建立结构杆件模型及各关节坐标系，并通过解析函数式的运动学逆解方法，得到特定末端执行器关节空间的轨迹所需的各驱动关节角度；利用Matlab中的SimMechanics工具箱建立运动学仿真模型并进行仿真，最后进行实验，实验结果表明利用该仿真方法可以准确、有效地实现半自主式的末端控制。
침대구원공정궤계재복잡배경하적공제문제，이용공정궤계궤기인화사상，문장제출료3충불동적공제방법，만족료재구원과정중불동적동작요구，학보료동작적은정、준학여가고；동시근거신형구원공정궤계궤계비수말단능동궤계장치적용여성，결합기대척촌결구여변부재공황특점，운용D-H법건립결구간건모형급각관절좌표계，병통과해석함수식적운동학역해방법，득도특정말단집행기관절공간적궤적소수적각구동관절각도；이용Matlab중적SimMechanics공구상건립운동학방진모형병진행방진，최후진행실험，실험결과표명이용해방진방법가이준학、유효지실현반자주식적말단공제。
Aiming at the control problem of the large construction machinery for emergency rescue in complex environment and using the robotics of construction machinery ,three different control meth-ods were presented ,which met the different action requirements in rescue process and made sure the stability ,accuracy and reliability of the action .Considering the large-scale structure and varying load character ,the structural component model and the coordinate system of all joints were built based on the D-H method and the redundancy of the manipulator as terminal active mechanical unit .All drive joint angle values in special trajectory in joint space of end-effector were gotten through inverse kine-matics of analytic function . The process was simulated on the SimMechanics Toolbox of Matlab through building the kinematics simulation model .Finally ,the experiment was done and the results showed that this kind of simulation method could accurately and effectively implement semiautono-mous control of end-effector .