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.
|出版ステータス||Published - 1996 12 1|
|イベント||Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan|
継続期間: 1996 8 5 → 1996 8 10
|Other||Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)|
|Period||96/8/5 → 96/8/10|
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