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

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

doi:10.1109/cdc.1996.572866

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

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

Abstract

This 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.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Pages	1958-1963
Volume	2
DOIs	https://doi.org/10.1109/cdc.1996.572866
Publication status	Published - 1996
Externally published	Yes

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2
ISSN (Print)	01912216

Bibliographical 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].

Access Output

10.1109/cdc.1996.572866

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

Kosuge, K., Takeo, K., Taguchi, D., Fukuda, T., & Murakami, H. (1996). Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1958-1963). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2). https://doi.org/10.1109/cdc.1996.572866

@inproceedings{2cdaaf15481248799b7c9c586db56366,

title = "Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine",

abstract = "This 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.",

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].",

year = "1996",

doi = "10.1109/cdc.1996.572866",

language = "English",

isbn = "01912216",

volume = "2",

series = "Proceedings of the IEEE Conference on Decision and Control",

pages = "1958--1963",

booktitle = "Proceedings of the IEEE Conference on Decision and Control",

}

Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine. / Kosuge, Kazuhiro; Takeo, Koji; Taguchi, Daiji et al.
Proceedings of the IEEE Conference on Decision and Control. Vol. 2 1996. p. 1958-1963 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2).

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

TY - GEN

T1 - Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine

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 - This 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.

AB - This 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.

UR - http://www.scopus.com/inward/record.url?scp=0030388387&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0030388387&origin=recordpage

U2 - 10.1109/cdc.1996.572866

DO - 10.1109/cdc.1996.572866

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

SN - 01912216

VL - 2

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 1958

EP - 1963

BT - Proceedings of the IEEE Conference on Decision and Control

ER -

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

Abstract

Publication series

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this