采煤机记忆切割路径规划问题研究  

Research on Path Planning of Shearer Memory Cutting

作　　者：谭超[1] 徐志鹏[1] 牛可[1] 

机构地区：[1]中国矿业大学机电工程学院

出　　处：《现代矿业》2009年第12期41-42,53,共3页Modern Mining

基　　金：国家"863"高技术计划重点资助项目(2008AA062202);教育部霍英东基金优选资助课题资助项目(114003)

摘　　要：论述了采煤机记忆切割过程中的路径规划问题。在采煤机示教过程中由机载控制器采集若干关键点,将其发送至上位机。上位机根据离散的关键点采用三次样条曲线对路径进行规划,并将最优路径发回至机载控制器,用以控制采煤机运行,有效地提高了采煤机切割路径的精确度和平稳性。The path planning of the shearer memory cutting is discussed in this paper.In the stage of teaching,the controller of shearer collects several key points and sends them to the upper computer.The upper computer plans the path with those key points using cubic spline interpolation,and then sends the optimal path back to the shearer controller to control operation of the shearer.Experiment shows that the shearer can run stability and accurately following this path.

关 键 词：采煤机 记忆切割 路径规划 

分 类 号：TD421.6[矿业工程—矿山机电]