Study on Trajectory Planning and Control Method in Profile Cutting of Roadheader
As a result of the uneven distribution of the hardness of coal roadway section, the intelligent tunneling of roadheader is very important for cutting efficiency of roadheader in various working conditions. Profile cutting is the key technology of realizing intelligent tunneling of roadheader, and the trajectory planning method of cutting head is the technical bottleneck of solving profile cutting. In consideration of the randomness of cutting process, this paper designs specially a time and speed predictor by adopting the spatial interpolation method of joint, considers at the same time cutting-motor as a constraint condition, and uses radial basic network method to approximate the trajectory of cutting head. A novel and effective method is provided for profile cutting technology of roadheader.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
J. Mao et al., "Study on Trajectory Planning and Control Method in Profile Cutting of Roadheader", Advanced Materials Research, Vols. 139-141, pp. 1723-1727, 2010