HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE

Jelmer Braaksma, Ben Klaassens, Robert Babuška, Cees de Keizer

2004

Abstract

In a novel shield tunneling method, the tunnel lining is produced by an extrusion process with continuous shield advance. A robotic manipulator is used to build the tunnel supporting formwork, consisting of rings of steel segments. As the shield of the tunnel-boring machine advances, concrete is continuously injected in the space between the formwork and the surrounding soil. This technology requires a fully automated manipulator, since potential human errors may jeopardize the continuity of the tunneling process. Moreover, the environment is hazardous for human operators. The manipulator has a linked structure with seven degrees of freedom and it is equipped with a head that can clamp the formwork segment. To design and test the controller, a dynamic model of the manipulator and its environment was first developed. Then, a feedback-linearizing hybrid position-force controller was designed. The design was validated through simulation in Matlab/Simulink. Virtual reality visualization was used to demonstrate the compliance properties of the controlled system.

Paper Citation

in Harvard Style

Braaksma J., Klaassens B., Babuška R. and Keizer C. (2004). HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 185-192. DOI: 10.5220/0001128901850192

in Bibtex Style

@conference{icinco04,
author={Jelmer Braaksma and Ben Klaassens and Robert Babuška and Cees de Keizer},
title={HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={185-192},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001128901850192},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE
SN - 972-8865-12-0
AU - Braaksma J.
AU - Klaassens B.
AU - Babuška R.
AU - Keizer C.
PY - 2004
SP - 185
EP - 192
DO - 10.5220/0001128901850192