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Authors: Jelmer Braaksma 1 ; Ben Klaassens 1 ; Robert Babuška 1 and Cees de Keizer 2

Affiliations: 1 Delft University of Technology, Netherlands ; 2 IHC Systems, Netherlands

ISBN: 972-8865-12-0

ISSN: 2184-2809

Keyword(s): Robotic manipulator, shield tunneling, hybrid control, collision, environment model, feedback linearization.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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 w as used to demonstrate the compliance properties of the controlled system. (More)

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Paper citation in several formats:
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

@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},
}

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

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