混凝土泵车控制系统优化算法的设计Design of Cont

以国内某公司的四臂混凝土泵车作为控制对象，运用机器人运动学，建立其运动学模

型，基于该模型给出泵车运行轨迹优化问题。考虑系统利用PLC 控制器实现，因此提出了一种新的快速简便的泵车的控制系统优化算法。经Matlab 仿真实验，该算法运算时间少，明显比工人手工操作能更快更好的到达目的点。

关键词：机器人运动学;混凝土泵车;轨迹优化问题;Matlab 仿真

Abstract: In this paper, the concrete pump truck offered by the domestic company was taken as the control object to establish a kinetics model based on the theory of robot kinetics. With this model, a simple and fast optimizing algorithm is proposed to solve the track optimizing problem with considering the fact that the system will run on PLC. Good results can be obtained by our algorithm in simulations on Matlab.

Key words: robot kinetics、concrete pump truck、track optimizing problem、simulation on Matlab