Research Article

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

Table 4

Solutions of inverse kinematics in mode 2.

Solution no.

 10.0052810.046679−0.0318883.4404531.0284331.200126
 20.0051190.046679−0.0332653.4415851.0290131.200762
 30.0049570.046679−0.0346383.4427231.0295921.201399
 40.0047940.046679−0.0360113.4438691.0301711.202038
 50.0046320.046680−0.0373823.4450211.0307491.202678
 60.0044700.046682−0.0387553.4461791.0313271.203319
 70.0043080.046683−0.0401283.4473451.0319051.203963
 80.0041460.046682−0.0414983.4485171.0324821.204607

Pose no.

 16.7007040.4878960.291913−0.999891−0.3009592.949828
 26.7019810.4868140.287199−1.000311−0.3018862.950126
 36.7032590.4857320.282486−1.000733−0.3028102.950425
 46.7045360.4846500.277768−1.001155−0.3037332.950724
 56.7058130.4835680.273064−1.001579−0.3046502.951024
 66.7070910.4824860.268356−1.002004−0.3055662.951324
 76.7083680.4814040.263644−1.002430−0.3064812.951625
 86.7096460.4803220.258920−1.002857−0.3073942.951926