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

Table 5

Solutions of inverse kinematics between mode 1 and mode 2.

Solution no.
1	0.094466	0.541054	−0.283932	3.488624	0.706087	1.013583
2	0.094271	0.541054	−0.285317	3.488475	0.706780	1.013781
3	0.094076	0.392774	0.000274	3.406000	0.707473	1.013979
4	0.093880	0.399768	−0.014836	3.406000	0.708166	1.014177
5	0.011003	0.058919	−0.007261	3.406000	1.007931	1.178817
6	0.010838	0.046679	0.015329	3.406000	1.008522	1.179401
7	0.010674	0.046678	0.013928	3.406900	1.009113	1.179987
8	0.010509	0.046681	0.012523	3.407808	1.009704	1.180574
Pose no.
1	6.061955	1.028885	2.647606	−0.736393	−0.116284	2.818948
2	6.063232	1.027803	2.642895	−0.736463	−0.117689	2.819082
3	6.064507	1.026721	2.638190	−0.792489	0.007869	2.822333
4	6.065786	1.025639	2.633476	−0.789817	0.000319	2.822551
5	6.655990	0.525765	0.456821	−0.983323	−0.278522	2.938954
6	6.657269	0.524683	0.452097	−0.986286	−0.268043	2.939934
7	6.658546	0.523601	0.447382	−0.986667	−0.269050	2.940218
8	6.659823	0.522519	0.442673	−0.987049	−0.270055	2.940503