Path Planning of Hydraulic Support Pushing Mechanism Based on Extreme Learning Machine and Descartes Path Planning

Symmetry

Fang Ren¹  Suhua Li¹  Xin Zhang¹  Xuewen Wang¹  Jiacheng Xie¹  Qingbao Bao² 

[1] Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China;State Key Laboratory of Mining Equipment and Intelligent Manufacturing, Taiyuan 030024, China;

关键词: virtual reality;    Unity3D;    scraper conveyor;    hydraulic support;    pushing mechanism;    path planning;   

DOI  :  10.3390/sym13010097

来源: DOAJ

【 摘 要 】

As a floating system connecting hydraulic support and scraper conveyor, the path planning of pushing mechanism is of great significance for their coordinated movement. In this paper, a method for path planning of hydraulic support pushing mechanism based on extreme learning machine (ELM) and Descartes path planning is proposed. According to the motion characteristics of moving mechanism, it is transformed into industrial robot model, based on the characteristics of the coordinates of the key points on the ear seat of the scraper conveyor when advancing, a prediction method of the key points coordinates based on ELM is proposed, so the target location of the end-effector is obtained. The path of the joint is determined by polynomial path partition and Descartes path planning method. The path is modified by Gaussian filtering method, and the peak value of path obtained by planning is filtered out, and the path correction is realized. Finally, the virtual simulation test is carried out in Unity3D. The planned coordinate curve has Poisson-like distribution and approximately around the target coordinate curve, and local error and correction error are within 2 cm and 0.1 cm, respectively. The coordinate curve obtained by combining planning and correction has a better effect.

【 授权许可】

Unknown