Task-oriented force control of parallel link mechanism for assembly of segments of tunnel boring machine

Kazuhiro Kosuge, Koji Takeo, Daiji Taguchi, Toshio Fukuda, Hiroki Murakami

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper propose a task-oriented force control scheme for the assembly of segments of a tunnel boring 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.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages1958-1963
Number of pages6
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: 1996 Dec 111996 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2
ISSN (Print)0191-2216

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period96/12/1196/12/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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