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为了解决吊装过程中潜在的作业安全问题,本文在Webots移动机器人仿真环境下对汽车起重机进行建模及运动控制分析。首先,对汽车起重机的结构进行分析,选择相应的连接方式;然后,建立汽车起重机的骨架模型及物理模型,并且进行纹理渲染。通过分析吊装作业过程,对汽车起重机的各部分设计控制器算法,从而实现模拟整个吊装作业过程的目的。在编写运动控制程序过程中,引入碰撞检测算法的思想,选择外接轮廓作为描述方式。实验结果表明,在基于Webots的仿真环境下进行汽车起重机建模及控制过程研究,可以快速有效地制定出吊装方案,辅助施工人员顺利完成吊装作业,降低吊装过程中的作业风险。
In order to solve the problem of potential operation safety during hoisting, this paper analyzes the modeling and motion control of truck cranes under the Webots mobile robot simulation environment. First, the structure of the truck crane is analyzed and the corresponding connection method is selected. Then, the skeleton model and the physical model of the truck crane are established, and the texture is rendered. By analyzing the hoisting operation process, the controller algorithm is designed for each part of the truck crane so as to achieve the purpose of simulating the whole hoisting operation process. In the process of writing motion control program, the idea of collision detection algorithm is introduced and the external contours are selected as the description method. The experimental results show that the crane crane modeling and control process research can be done quickly and effectively under the Webots-based simulation environment to assist the construction workers to complete the hoisting operation and reduce the operational risk in hoisting process.