| Study on the bore sequence planning of tunnel-rock-drilling robot is the prerequisite step to robotize rock-drilling equipment, as well as the embodiment of intellectualized tunnel-rock-drilling robot. In this dissertation, surrounding the problem that must be studied in the realization process of the bore sequence planning, we have done a systemic and elaborate research on JSZY2-90M tunnel-rock-drilling robot. As fellows: modeling, work space, the inverse kinematics, collision detection, the bore sequence planning of a boom and the coordinated bore sequence of multi-boom.1. After studying the actual work condition and the unique framework of multi-boom tunnel-rock-drilling robot carefully, we pointed out that the kinematics modeling method on open-loop system of manipulator could still be used to analyse the tunnel-rock-drilling system, then the positive kinematics equation of the boom was presented on the basis of necessary simplification of the framework.2. Based on the analysis of workspace of tunnel-rock-drilling robot, the distance between the robot' s bodywork and the tunnel' s workface could be exactly found out. In the process of the analysis of workspace of tunnel-rock-drilling robot, we study the method how to produce the pseudo stochastic numbers in theory, and presented that pseudo stochastic numbers produced by the multiplicative congruence method is detached and has good 'periodicity.3. In the process of study on the inverse kinematics of rock-drillingboom, we draw out a special numeration system (x=k0 *k1 *k2i-1) to describea numeral and defined the application rules of this system. Trial mountainABSTRACTclimbing algorithm to solve the inverse kinematics problem of redundant nanipulafor is introduced. The results of eduction and simulation show that a likelihood solution can be found quickly in the infinite groups of feasible solutions within the limited search times, and the computation of the anti-trigonometric function and the inverse matrix are not needed and this algorithm also has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.4. From the study on the bore sequence planning of a boom, we discussed the optimal objective on the point-to-point movement of multi-joint nanipulator on discrete multi-point, and then considered the sum of each joint movement as the optimal objective function. According to this theory, an adaptive function of the genetic algorithm is designed to plan bore sequence. The planned bore sequence can meet the realistic need.5. We separated the collision of tunnel-rock-drilling robot into three types: the collision between booms, the collision between boom' s joints, and the collision between boom and exterior surroundings; then oointed out that the collision detection of tunnel-rock-drilling robot only can be studied on boom' s joints level. So the collision detection of tunnel-rock-drilling robot can be solved availably by simplifying into the interference between line segment and line segment or inboard arc segment. After that these corresponding algorithms are designed to solve the collision detection of tunnel-rock-drilling robot. With simple computer programs and less complexity algorithm, it can satisfy the requirement.6. The theory of multi-robot system is introduced to study the bore sequence planning of tunnel-rock-drilling robot' s multi-boom and a new task-orientated composite distributed control architecture is designed. So the planning problem may be simplified into three problems: eachboom' s task distribution, the off-line bore sequence planning of a boom and the study of dynamic planning algorithm under the result of the collision detection and task confliction. In the process of study on the coordinated tactic between two booms of tunnel-rock-drilling robot, we brought forward that the whole workspace of tunnel-rock-drilling robot is divided into freedom workspace and flexible workspace, and accepted or rejected the task in flexible workspace to...
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