Answers are grounded in this paper and cite their sources.
This paper proposes a task-oriented force control system for the assembly of segments of a shield tunnel excavation system. First, we design a generalized coordinate system referred to as a task-oriented coordinate system, so that the position and orientation of a segment can be adjusted compliantly according to the external force from existing segments with which the segment is assembled together. Then, a hybrid position/force control algorithm is designed for a parallel link robot with hydraulic actuators. The system is experimentally applied to the assembly of honey-comb shaped segments. The experimental results illustrate the validity of the proposed system.
No takes yet. Share an insight, caveat, or question.
Kosuge et al. (1996) studied this question.
Synapse has enriched 10 related papers. Consider them for comparative context: