标题：Kinematic analysis of a shotcreting robot
作者：Rong, Xuewen ;Li, Yibin ;Song, Rui
作者机构：[Rong, Xuewen ;Li, Yibin ;Song, Rui ] School of Control Science and Engineering, Shandong University, 73, Jingshi Road, Jinan, 250031, China
会议名称：2010 International Conference on Mechanic Automation and Control Engineering, MACE2010
会议日期：26 June 2010 through 28 June 2010
来源：2010 International Conference on Mechanic Automation and Control Engineering, MACE2010
关键词：Denavit-Hartenberg frames; Inverse kinematics; Shotcreting robot
摘要：The shotcreting robot has 8 joints including 3 joints coupled with others on the shotcreting robot. This paper set up the Denavit-Hartenberg Frames and deduced the kinematic equations with extra three constrain equations to decouple the linked motions. The unique analytical solution of the inverse kinematic equations was educed, which provided foundation for further research on trajectory plan, dynamics analysis and control strategies. ©2010 IEEE.