摘要
混凝土泵车臂架系统是一组具有多冗余度的机构,采用常规方法很难实现精确、实时控制。在文章中,采用插补算法,对混凝土泵车自动浇注控制系统进行了设计,并在三维平台下对混凝土泵车自动浇注过程进行了仿真。仿真结果表明,泵车的浇注口能够很好地沿着用户所设定的路线进行浇注。
The boom system of concrete pump car is difficult to control automatically since its degrees of freedom are redundant. Interpolation algorithm is applied to design the auto-pouring system, which has simulated in three-dimension virtual environment. The result shows that the booms can move well along the path preset by user.
出处
《计算机测量与控制》
CSCD
2004年第1期48-49,59,共3页
Computer Measurement &Control
基金
国家自然科学基金资助项目(59835050)
关键词
建筑施工
混凝土泵车
自动浇注
控制系统
冗余度机构
concrete pump car
interpolation algorithms
auto-pouring
three-dimension simulation
