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
Editors Anon
Pages1958-1963
Number of pages6
Publication statusPublished - 1996 Dec 1
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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    Kosuge, K., Takeo, K., Taguchi, D., Fukuda, T., & Murakami, H. (1996). Task-oriented force control of parallel link mechanism for assembly of segments of tunnel boring machine. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (pp. 1958-1963). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2).