Title :
Multi-directional assembly of tunnel segments using a force controlled parallel link robot with fuzzy compensation
Author :
Zyada, Z. ; Hasegawa, Y. ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
Achieving assembly in different inclination angles for tunnel construction would be a difficult task because of gravity forces changing and hence actuators´ friction forces. In this paper, we introduce the experimental results for multi-directional segments assembly of a shield tunnel excavation using a hydraulic parallel link robot. A force/motion control algorithm with model-based actuators´ forces fuzzy compensation is implemented in different inclination angles.
Keywords :
force control; fuzzy control; fuzzy set theory; hydraulic actuators; manipulators; motion control; robotic assembly; structural engineering; force control; friction forces; fuzzy compensation; gravity forces; hydraulic parallel link robot; inclination angles; model based actuators; motion control; multidirectional segments assembly; shield tunnel excavation; tunnel construction; tunnel segments;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
