The Kinematics of 6R-2P Mining Drill Jumbo-Reference-Cited by-同舟云学术

The Kinematics of 6R-2P Mining Drill Jumbo

Published:2014-04-11 Issue:3 Volume:6 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Jiang Qimi¹,Ahmed S. N.²³

Affiliation:

1. Mining Technologies International Inc., Greater Sudbury, ON P3A 4R8, Canada e-mail:

2. Mining Technologies International Inc., Greater Sudbury, ON P3A 4R8, Canada;

3. Laurentian University, Greater Sudbury, ON P3E 2C6, Canada e-mail:

Abstract

This work directly solves the inverse kinematics of the 6R-2P drill jumbo with 2 redundant DOFs at the displacement level using θ1 and θ5 as inputs to avoid solving a nonlinear system. An approach for computing the pose of the end-effector used to drill each hole on the mine face is also proposed.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4025818/6252585/jmr_006_03_034501.pdf

Reference6 articles.

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4. Antonelli, G., Indiveri, G., and Chiaverini, S., 2009, “Prioritized Closed Loop Inverse Kinematic Algorithms for Redundant Robotic Systems With Velocity Saturations,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct. 10–15, pp. 5892–5897.10.1109/IROS.2009.5354636

5. Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm;Int. J. Adv. Rob. Syst.,2010

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