【摘要】 通过对隧道凿岩机器人双三角钻臂运动规律的研究，引入平行坐标系将两后变幅缸对钻臂摆角与俯仰角的两输入两输出耦合系统转化为两个单输入单输出系统，得到了钻臂直线轨迹运动时，两后变幅缸的控制规律。从算法上解决了双三角钻臂轨迹控制的难点，为隧道凿岩机器人的高精度轨迹控制打下良好的理论基础。更多还原

【Abstract】 The paper analyzes the kinematic of the double triangle boom of the rock-drilling robot. The parallel reference framework is applied to solve the coupling problem of the double triangle boom, conveying the MIMO system to two SISO systems. In this method it is discovered the control strategy of the two behind moving hydraulic cylinders which support the boom of the rock-drilling robot to move in a line.更多还原