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In order to solve the problem that the trajectory is not straight when piecewise polynomial interpolation method is used to plan the trajectory of excavator's linear operation in joint space, which leads to the inaccurate trajectory, this paper proposes a quintic polynomial interpolation method based on multidimensional trajectory to realize the accurate trajectory of excavator's linear operation. While using Matlab to draw the relevant images in motion, ikunc function is used to optimize the inverse solution of each point in the motion process, and joint Angle trajectory smoothing algorithm and particle swarm optimization algorithm are used to verify the minimum change of joint Angle in the optimal inverse solution of ikunc function. It is verified that the ikunc function is correct to obtain the minimum and best inverse solution of the joint Angle change, which indirectly achieves the energy optimal effect.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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