基于D-H法的挖掘机姿态感知关键技术研究OA

The existing excavator attitude detection systems mainly detect the attitudes of the boom,dipper arm and bucket of the excavator,but they are unable to detect the coordinate position of the bucket teeth tip and the attitude angle of the bucket back in real time,and thus cannot provide construction guidance for the excavator driver.To facilitate the control of elevation and slope ratio during the earthwork excavation construction by the excavator,the D-H method is adopted to establish local co-ordinate systems at each joint of the excavator's working device.Through the transformation matrix of the coordinate systems,the forward kinematics model of the excavator's working device robot is established,and based on this model,the excavator excavation guidance system is developed.The test results indicatded that the location technique of the bucket teeth tip of the excavator enabling the real-time monitoring of the spatial position of the bucket teeth tip and the attitude angle of the bucket back.It can provide real-time guidance on the excavation elevation and slope ratio for the excavator driver,simplify the con-struction process of elevation control and slope control in the earthwork excavation construction,achieve the basic one-time forming of the excavation operation,and provide technical support for the information monitoring of the earthwork excavation construction process.