Title :
Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine
Author :
Kosuge, Kazuhiro ; Takeo, Koji ; Taguchi, Daiji ; Fukuda, Toshio ; Murakami, H.
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
This paper propose a task-oriented force control scheme for the assembly of segments of a tunnel bolling machine. 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. Then, we design a hybrid position/force control algorithm for a parallel link mechanism with hydraulic actuators. The system is applied to the experimental assembly system of honey-comb shaped segments and the experimental results illustrate the validity of the proposed system
Keywords :
actuators; control system synthesis; force control; hydraulic control equipment; manipulator dynamics; position control; coordinate system; hydraulic actuators; parallel link mechanism; position control; segment assembly; task-oriented force control; tunnel bolling machine; Algorithm design and analysis; Assembly systems; Automatic control; Control systems; Force control; Hydraulic actuators; Machine intelligence; Robot kinematics; Robotic assembly; Systems engineering and theory;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572866
