Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism

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

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ501-506
ページ数6
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 51996 8 10

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period96/8/596/8/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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