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- Publisher Website: 10.1109/IECON.1996.571004
- Scopus: eid_2-s2.0-0030414555
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Conference Paper: Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism
| Title | Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Citation | IECON Proceedings (Industrial Electronics Conference), 1996, v. 1, p. 501-506 How to Cite? |
| Abstract | 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. |
| Persistent Identifier | http://hdl.handle.net/10722/302674 |
| 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 | 2021-09-07T08:42:22Z | - |
| dc.date.available | 2021-09-07T08:42:22Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | IECON Proceedings (Industrial Electronics Conference), 1996, v. 1, p. 501-506 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302674 | - |
| dc.description.abstract | 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. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IECON Proceedings (Industrial Electronics Conference) | - |
| dc.title | Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IECON.1996.571004 | - |
| dc.identifier.scopus | eid_2-s2.0-0030414555 | - |
| dc.identifier.volume | 1 | - |
| dc.identifier.spage | 501 | - |
| dc.identifier.epage | 506 | - |