Research on Autonomous Cutting Method of Cantilever Roadheader

Roadway excavation is the leading project in coal mining, and cantilever roadheader main equipment roadway excavation. Autonomous cutting by roadheaders key to realize safe, efficient intelligent tunneling for underground roadways. In this paper, working device of a was simplified into series translation or rotation joints, spatial pose model coordinate system were established. Using homogeneous transformation matrix robot-related theory, space equation head derived. The forward kinematics inverse solved using D-H parameter method an method. location coordinates inflection point process path rectangular determined, planning control carried out based on coordinates. Finally, MATLAB software used simulate limit area path. simulation results showed that section had bulging waist shape, boundary around flat, error controlled within 1mm, which verified reliability effectiveness autonomous theory roadheader. It lays mathematical theoretical foundation realization “autonomous operation unmanned equipment”.