Research Article

Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning

Table 2

D-H parameters for the shotcrete manipulator.

Joint no. (°) () () (°)Angle limit ()

1000−180∼180
290000∼70
30−20∼110
4−90000∼4600
5000−180∼180
69000−120∼120
700

The initial values are  = 0,  = 1.5500,  = 88.4500,  = 3406.0,  = −90, and  = 0. The constant values are  = 3272.0,  = 452.5,  = 442.0, and  = 398.1.