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

doi:10.1109/iecon.1996.571004

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

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

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.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE
Pages	501-506
Volume	1
DOIs	https://doi.org/10.1109/iecon.1996.571004
Publication status	Published - 1996
Externally published	Yes
Event	Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan Duration: 5 Aug 1996 → 10 Aug 1996

Conference

Conference	Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
City	Taipei, Taiwan
Period	5/08/96 → 10/08/96

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Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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@inproceedings{6e4ded90dfb34ea2a22c10274cc633ce,

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

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.",

author = "Kazuhiro Kosuge and Koji Takeo and Daiji Taguchi and Toshio Fukuda and Hiroki Murakami",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) ; Conference date: 05-08-1996 Through 10-08-1996",

year = "1996",

doi = "10.1109/iecon.1996.571004",

language = "English",

volume = "1",

pages = "501--506",

booktitle = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE",

address = "United States",

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Kosuge, K, Takeo, K, Taguchi, D, Fukuda, T & Murakami, H 1996, Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism. in IECON Proceedings (Industrial Electronics Conference). vol. 1, IEEE, pp. 501-506, Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, 5/08/96. https://doi.org/10.1109/iecon.1996.571004

Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism. / Kosuge, Kazuhiro; Takeo, Koji; Taguchi, Daiji et al.
IECON Proceedings (Industrial Electronics Conference). Vol. 1 IEEE, 1996. p. 501-506.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism

AU - Kosuge, Kazuhiro

AU - Takeo, Koji

AU - Taguchi, Daiji

AU - Fukuda, Toshio

AU - Murakami, Hiroki

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

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DO - 10.1109/iecon.1996.571004

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 1

SP - 501

EP - 506

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE

T2 - Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)

Y2 - 5 August 1996 through 10 August 1996

ER -

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

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