The trajectory planning of excavator telescopic boom is the premise and basis of controlling the telescopic boom. Its main purpose is to plan the angle, speed, acceleration and pulsation of the telescopic boom, so as to ensure the smooth and stable movement of the telescopic boom.

另一方面，对挖掘机伸缩臂进行轨迹规划，也可以避免其工作时发生冲击振动，从而提高了伸缩臂的工作效率与可靠性.本文以挖掘机模型为研究对象，研究了挖掘机的运动学逆解问题并在此基础卜研究了基于关节空间的轨迹规划方法。

On the other hand, the trajectory planning of the excavator telescopic boom can also avoid the impact vibration during its work, so as to improve the working efficiency and reliability of the telescopic boom Taking the excavator model as the research object, this paper studies the inverse kinematics of the excavator, and studies the trajectory planning method based on joint space.

在对挖掘机的结构和运动过程进行分析的基础1二，采用标准的D一H法建立其数学模型，并依据运动学相关知识，进行运动学分析，得到铲斗齿尖的位姿与关节位置的关系。然后根据给定的实际下作目标。

Based on the analysis of the structure and motion process of the excavator, the standard D-H method is used to establish its mathematical model, and the kinematics analysis is carried out according to the relevant knowledge of kinematics, so as to obtain the relationship between the pose of the bucket tooth tip and the joint position. Then make the goal according to the given reality.

本文通过几何法实现了挖掘机运动学逆问题的求解，与传统的矩阵变换求解相比，计算过程更加简便。在此基础上论文简要介绍了伸缩臂轨迹规划及其相关问题，并针对挖掘机动作的特点，详细分析了挖掘机关节空rh1二次多项式插值函数的建立过程，在此基础l几进行挖掘机时间优轨迹规划。

In this paper, the inverse kinematics problem of excavator is solved by geometric method. Compared with the traditional matrix transformation, the calculation process is simpler. On this basis, the paper briefly introduces the telescopic boom trajectory planning and its related problems. According to the characteristics of excavator action, the establishment process of excavator joint space Rh1 quadratic polynomial interpolation function is analyzed in detail. On this basis, the time optimal trajectory planning of excavator is carried out for several years.

轨迹规划过程中，需要将三个关节的运动学约束条件作为轨迹约束条件，然后求解满足约束条件的三次多项式轨迹函数表达式，而现有适应值函数与约束条件没有融合在一起，导致智能优化方法在处理轨迹约束条件时存在的寻优时间长、可能会出现无法找到满足条件的解等缺点.

In the process of trajectory planning, it is necessary to take the kinematic constraints of the three joints as the trajectory constraints, and then solve the cubic polynomial trajectory function expression that meets the constraints. However, the existing fitness function is not integrated with the constraints, resulting in the long optimization time and There may be shortcomings such as unable to find a solution that meets the conditions

为了验证本文研究内容的实用性，根据挖掘机模型的实际构型，采用的各个模块搭建了仿真模型.在仿真过程中，将规划所得的关节轨迹融入其中.仿真结果验证了轨迹规划的正确性。为了进一步验证实际效果，对实验室的挖掘机模型控制系统进行了改装，制定了F的挖掘机控制系统的软硬件设计方案，通过DSP实现了对挖掘机的控制。然后对挖掘机进行了铲斗齿尖路径投影及实际铲土实验，结果验证了轨迹规划的正确性和实用性。

In order to verify the practicability of the research content in this paper, the simulation model is built according to the actual configuration of the excavator model In the simulation process, the planned joint trajectory is integrated into it The simulation results verify the correctness of trajectory planning. In order to further verify the actual effect, the excavator model control system in the laboratory is modified, the software and hardware design scheme of F2812 excavator control system is formulated, and the excavator is controlled by DSP. Then, the path projection of bucket tooth tip and the actual soil cutting experiment are carried out on the excavator. The results verify the correctness and practicability of trajectory planning.