R |
Outer radius of the pipe, m |
r |
Minimum distance from the coordinate origin O1 of the robot body to the pipe axis x,y,z,r > R |
a |
Initial movement distance from the origin O on the x-axis, m |
b |
Initial movement distance from the origin O on the y-axis, m |
c |
Initial movement distance from the origin O on the z-axis, m |
α |
The initial position angle (rad) around the z-axis, whose direction starts with the direction of the x-axis and rotates according to the right-hand rule, and the angle interval is [0,2π]. |
β |
The initial position angle (rad) around the y-axis, whose direction starts with the direction of the z-axis and rotates according to the right-hand rule, and the angle interval is [0,2π]. |
θ |
The initial position angle (rad) around the x-axis, whose direction starts with the direction of the y-axis and rotates according to the right-hand rule, and the angle interval, is [0,2π] |
A1 |
Positive trajectory of the robot coordinate origin |
B1 |
Inverse trajectory of the robot coordinate origin. |