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Conference Paper: Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine

TitleTask-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine
Authors
Kosuge, KazuhiroTakeo, KojiTaguchi, DaijiFukuda, ToshioMurakami, Hiroki
Issue Date1996
Citation
Proceedings of the IEEE Conference on Decision and Control, 1996, v. 2, p. 1958-1963 How to Cite?
DOI: http://dx.doi.org/10.1109/CDC.1996.572866
AbstractThis 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.
Persistent Identifierhttp://hdl.handle.net/10722/302669
ISSN
0191-2216
2020 SCImago Journal Rankings: 0.395

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorTakeo, Koji-
dc.contributor.authorTaguchi, Daiji-
dc.contributor.authorFukuda, Toshio-
dc.contributor.authorMurakami, Hiroki-
dc.date.accessioned2021-09-07T08:42:21Z-
dc.date.available2021-09-07T08:42:21Z-
dc.date.issued1996-
dc.identifier.citationProceedings of the IEEE Conference on Decision and Control, 1996, v. 2, p. 1958-1963-
dc.identifier.issn0191-2216-
dc.identifier.urihttp://hdl.handle.net/10722/302669-
dc.description.abstractThis 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.-
dc.languageeng-
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Control-
dc.titleTask-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/CDC.1996.572866-
dc.identifier.scopuseid_2-s2.0-0030388387-
dc.identifier.volume2-
dc.identifier.spage1958-
dc.identifier.epage1963-

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