Research on shield gesture control based on inverse kinematics of parallel manipulator

In this paper, a numerical model for automatic control of shield gesture with inverse kinematics of parallel manipulator has been established, and on this basis, further researches have been conducted on methods to set the target regulation gesture of shield and to group the thrust jacks, as well as the issue of movement constrains in position and gesture regulation. Specific control process flow has also been established as a foundation to realize a shield gesture automatic control system.