【摘要】 为实现凿岩机器人钻臂在凿岩过程中的自动定位，建立了多关节钻臂的运动学方程；根据钻臂的实际工作特点和工作范围提出了一种求逆解的方法．运算结果表明，该方法可以成功地实现快速、精确求解，具有较高的实用价值．更多还原

【Abstract】 The kinematics equations of the booms of rock drilling are established.And a practical method of seeking the boom′s inverse kinematics solution is developed.The method takes into consideration the scope and other characters of real working environment,and the results of computer experiment have proven the efficiency and accuracy of the method,which is important for developing the rock drilling robot of our country.更多还原