Title :
Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism
Author :
Kosuge, Kazuhiro ; Takeo, Koji ; Taguchi, Daiji ; Fukuda, Toshio ; Murakami, H.
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
In this paper, we are going to propose a task-oriented force control system for the assembly of segments of a shield tunnel excavation system. First, we design a generalized coordinate system referred to a task-oriented coordinate system, so that the position and orientation of a segment will be adjusted compliantly according to the external force from existing segments with which the segment is assembled together. A hybrid position/force control algorithm is then designed for a parallel link mechanism with hydraulic actuators. The system is experimentally applied to the assembly of segments of honey-comb shape. The experimental results illustrate the validity of the proposed system
Keywords :
actuators; civil engineering; control system synthesis; controllers; excavators; force control; hydraulic control equipment; position control; force control; force controller design; generalized coordinate system; honey-comb shape segments; hybrid position/force control algorithm; hydraulic actuators; parallel link mechanism; position control; position controller design; segments assembly; shield tunnel excavation system; task-oriented force control; Algorithm design and analysis; Assembly systems; Control systems; Force control; Hydraulic actuators; Hydraulic systems; Machine intelligence; Robot kinematics; Robotic assembly; Torque control;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.571004
