Shotcrete Manipulator Trajectory Planning And Controlling Research

Shotcrete machine is a construction engineering equipment which is widely used in railway highway tunnel, the underground construction, various of mine and water conservancy and hydropower engineering. Trajectory of spray manipulator is one of the important factors which influence the construction quality and shotcrete manipulator life and work reliability of spray. In this paper, the movement of the manipulator time and joint impact are used as track performance index to plan the spray manipulator trajectory. Electric-hydraulic proportional control system of shotcrete manipulator model is build and analyzed by simulation and experiment.Firstly, by studying the structure of the manipulator, using D-H method to establish a kinematics model and kinematic analysis, the relationship between the gun pose and joint position and the relationship between the drive oil cylinder and joint position of the relationship are described.Secondly, according to spray gun horizontal motion need to keep uniform velocity, puts forward the high order polynomial transition linear interpolation method, to solve the impact problem of the joints caused by discontinuous acceleration in the parabolic transition linear interpolation method. Vertical movement for gun need quick action, based on the three spline interpolation method, the optimal time-impact comprehensive trajectory planning method is put forward. The integral of the square of the jerk of the manipulator joint is used to define the impact index. The objective function defined by weighted coefficient, and the joint kinematics constraints are defined as constraint conditions of the track. Traveling time are solved by using sequential quadratic programming strategy, then time-jerk optimal trajectories which satisfy nonlinear kinematic constraints are planned. This method can solve the contradiction of the manipulator time and joint impact.Finally, building the mathematical model of the electric-hydraulic proportional control system of shotcrete manipulator, analyzing the system open-loop transfer function stability, and setting the PID parameters. manipulator trajectory control simulation is analyzed through the MATLAB/simulink. On the base of this, the experimental research of shotcrete robot control system is carried out to verify the theoretical research and simulation analysis is correct.