As a floating system connecting hydraulic support and scraper conveyor, the path planning of pushing mechanism is of great significance for their coordinated movement. In this paper, a method for path planning of hydraulic support pushing mechanism based on extreme learning machine (ELM) and Descartes path planning is proposed. According to the motion characteristics of moving mechanism, it is transformed into industrial robot model, based on the characteristics of the coordinates of the key points on the ear seat of the scraper conveyor when advancing, a prediction method of the key points coordinates based on ELM is proposed, so the target location of the end-effector is obtained. The path of the joint is determined by polynomial path partition and Descartes path planning method. The path is modified by Gaussian filtering method, and the peak value of path obtained by planning is filtered out, and the path correction is realized. Finally, the virtual simulation test is carried out in Unity3D. The planned coordinate curve has Poisson-like distribution and approximately around the target coordinate curve, and local error and correction error are within 2 cm and 0.1 cm, respectively. The coordinate curve obtained by combining planning and correction has a better effect.

中文翻译：

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基于极限学习机和笛卡尔路径规划的液压支架推进机构路径规划

作为连接液压支架和刮板输送机的浮动系统，推进机构的路径规划对其协调运动具有重要意义。提出了一种基于极限学习机和笛卡尔路径规划的液压支架推进机构路径规划方法。根据运动机构的运动特性，根据刮板输送机前进时刮板输送机耳座上关键点的坐标特性，将其转化为工业机器人模型，并基于ELM对关键点坐标进行预测。建议，因此获得末端执行器的目标位置。关节的路径由多项式路径划分和笛卡尔路径规划方法确定。通过高斯滤波方法修改路径，通过规划得到的路径峰值被滤除，实现了路径校正。最后，在Unity3D中进行虚拟仿真测试。计划的坐标曲线具有类似于泊松的分布，并且大致在目标坐标曲线附近，局部误差和校正误差分别在2 cm和0.1 cm之内。通过规划与修正相结合得到的坐标曲线效果更好。