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
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;
Conference_Titel :
Information Science and Engineering (ICISE), 2010 2nd International Conference on
Conference_Location :
Hangzhou, China
Print_ISBN :
978-1-4244-7616-9
DOI :
10.1109/ICISE.2010.5688587
