Abstract: To realize human-computer interaction control and ensure safety,an trajectory control and motion visualization system of robotic excavator was designed.The control system was mainly composed of three dimensional gesture visualization：trajectory control,operation information monitoring and remote network.The mathematical models of kinematic were analyzed,and the mechanism modeling method was analyzed.On this basis,the displacements of hydraulic cylinders and body turning angle were collected in real time,then the kinematics transformation was carried out,and the real-time gesture could be simulated.The experiments were carried out on a 23t robotic excavator,and different trajectories were used to validate the performances of the system.It was demonstrated from the experimental work that the system was stable and reliable,and the maximum errors of trajectories were 44.56 mm and 41.21 mm respectively.These errors were within the reasonable range.The system could provide a visualization platform for remote monitoring,control algorithm research and experimental data analysis.

Key words: robotic excavator, trajectory control, virtual instrument, visualization, kinematics

摘要： 为了实现挖掘机器人的人机交互控制并确保作业安全,设计了基于虚拟仪器的挖掘机器人轨迹控制及运动可视化系统。该系统利用传感器采集挖掘机器人的运行状态信息,包括液压缸位移、车身回转角度、工作压力等。首先建立挖掘机器人的运动学模型,其次分析系统的基本工作原理,在此基础上建立了包含三维姿态可视化、轨迹控制、运行信息监测和远程网络在内的完整系统。最后,将其应用于挖掘机器人常见的整平作业和斜坡作业中,结果表明系统能够实时可靠地显示挖掘机器人的三维姿态,整平作业和斜坡作业的最大误差分别为44.56 mm和41.21 mm,均在合理范围内,验证了系统的实用性和有效性。

关键词: 挖掘机器人, 轨迹控制, 虚拟仪器, 可视化, 运动学