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| 沉井水下挖掘机器人运动学正逆解与可视化自动控制方法 |
| 朱雁飞1 朱叶艇1,2 吴文斐1,2 潘伟强1 张益中1 王彦杰1 翟一欣1,2 王泽源3 |
1. 上海隧道工程有限公司，上海 200232
2. 上海城建隧道装备有限公司，上海 200137
3. 同济大学地下建筑与工程系, 上海 200092 |
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| Forward and inverse kinematic solutions and visible automatic control method for underwater excavation robot in open caisson construction |
| Zhu Yanfei1 Zhu Yeting1,2 Wu Wenfei1,2 Pan Weiqiang1 Zhang Yizhong1 Wang Yanjie1 Zhai Yixin1,2 Wang Zeyuan3 |
1. Shanghai Tunnel Engineering Co., Ltd., Shanghai 200232, China
2. Shanghai Urban Construction Tunnel Equipment Co., Ltd., Shanghai 200137, China
3. Department of Geotechnical Engineering, Tongji University, Shanghai 200092, China |
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