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- Publisher Website: 10.1109/3516.537048
- Scopus: eid_2-s2.0-0030244747
- WOS: WOS:A1996VY14700008
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Article: Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system
| Title | Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Citation | IEEE/ASME Transactions on Mechatronics, 1996, v. 1, n. 3, p. 250-258 How to Cite? |
| Abstract | This paper proposes 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 as 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. Then, a hybrid position/force control algorithm is designed for a parallel link robot with hydraulic actuators. The system is experimentally applied to the assembly of honey-comb shaped segments. The experimental results illustrate the validity of the proposed system. © 1996 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302666 |
| ISSN | 2023 Impact Factor: 6.1 2023 SCImago Journal Rankings: 2.133 |
| ISI Accession Number ID |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Takeo, Koji | - |
| dc.contributor.author | Taguchi, Daiji | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Murakami, Hiroki | - |
| dc.date.accessioned | 2021-09-07T08:42:21Z | - |
| dc.date.available | 2021-09-07T08:42:21Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 1996, v. 1, n. 3, p. 250-258 | - |
| dc.identifier.issn | 1083-4435 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302666 | - |
| dc.description.abstract | This paper proposes 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 as 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. Then, a hybrid position/force control algorithm is designed for a parallel link robot with hydraulic actuators. The system is experimentally applied to the assembly of honey-comb shaped segments. The experimental results illustrate the validity of the proposed system. © 1996 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
| dc.title | Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system | - |
| dc.type | Article | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/3516.537048 | - |
| dc.identifier.scopus | eid_2-s2.0-0030244747 | - |
| dc.identifier.volume | 1 | - |
| dc.identifier.issue | 3 | - |
| dc.identifier.spage | 250 | - |
| dc.identifier.epage | 258 | - |
| dc.identifier.isi | WOS:A1996VY14700008 | - |