本文探讨了板凳龙沿阿基米德螺线盘入过程中, 各把手位置的确定方法。首先, 根据各把手盘入的行径特征, 确定对应极角的定量搜索范围, 为后续算法提供初值。随后, 提出了一种用于计算后一把手位置的动态反馈算法, 该算法有效避免了在求解非线性方程组时出现的多解问题。此外, 为提高计算效率, 研究了不同极角与迭代参数的函数设计。在仿真环境下, 验证了该动态反馈算法的有效性。

The paper considers the problem of determining the position of each handle as the bench dragon coils along the spiral. First, the quantitative searching range of the corresponding polar angle of the handle is given according to the traveling path characteristics of each handle coiled in, offering the initial value for the proposed algorithm. Then, a dynamical feedback algorithm for calculating the position of the latter handle is proposed, which avoids the multi-solution problem of solving nonlinear equations. Furthermore, to promote the computational efficiency, the design of iterative parameters based on varying polar angles is discussed. In the simulation environment, the effectiveness of the proposed dynamical feedback algorithm is illustrated.