DocumentCode
2083461
Title
Research of profiling cutting control algorithm for roadheader robot
Author
Jun, Mao ; Jiangang, Li ; Weikang, Li ; Runcai, Bai
Author_Institution
College of Mechanical Engineering, Liaoning Technical University, Fuxin, China
fYear
2010
fDate
4-6 Dec. 2010
Firstpage
5286
Lastpage
5289
Abstract
By analyzing the mechanism of automatic drilling system, the kinematics model of profiling cutting for roadheader was built. The parameter relations of the pose of tunnel robot cutting head, intersection angle of swinging table and hinge joint of rising and falling were established. The path of tunneling process was programmed. Afterwards follow-up control and cutting control were achieved. Finally, the application of CMAC controller is introduced in the process of tunnel robot profiling cutting.
Keywords
Analytical models; Kinematics; Laboratories; Mining equipment; Robot kinematics; Semiconductor lasers; control algorithm; profiling cutting; roadheader robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Science and Engineering (ICISE), 2010 2nd International Conference on
Conference_Location
Hangzhou, China
Print_ISBN
978-1-4244-7616-9
Type
conf
DOI
10.1109/ICISE.2010.5688587
Filename
5688587
Link To Document