This work directly solves the inverse kinematics of the 6R-2P drill jumbo with 2 redundant DOFs at the displacement level using and as inputs to avoid solving a nonlinear system. An approach for computing the pose of the end-effector used to drill each hole on the mine face is also proposed.
The Kinematics of 6R-2P Mining Drill Jumbo
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 29, 2012; final manuscript received July 18, 2013; published online April 11, 2014. Assoc. Editor: Delun Wang.
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Jiang, Q., and Ahmed, S. N. (April 11, 2014). "The Kinematics of 6R-2P Mining Drill Jumbo." ASME. J. Mechanisms Robotics. August 2014; 6(3): 034501. https://doi.org/10.1115/1.4025818
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