Hybrid Control Design for a Robot Manipulator in a Shield Tunneling Machine

Braaksma, J.; Klaassens, Ben; Babušska, Robert; Keizer, C de

doi:10.1007/1-4020-4543-3_17

Cited by 7 publications

(6 citation statements)

References 4 publications

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“…Figure 3 The considered seven-DOF erector The proposed modeling environment has been used in the design of a manipulator (erector) for a novel shield tunnelboring machine (TBM) (Figure 3). The task of the erector is to place steel segments such that they form the tunnel lining (Braaksma et al, 2004). The erector has seven DOFs (q 0 to q 6 ) in total.…”

Section: Comparing Signal Plotting and Vr Visualization Of The Resultsmentioning

confidence: 99%

Automated design environment for serial industrial manipulators

Breijs

Klaassens

Babuška

2005

Industrial Robot: An International Journal

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Purpose -Resulting from the need for fast and insightful modeling combined with the drawbacks of available modeling environments, provides details of work developed on an automated modelling environment. Design/methodology/approach -An automated modeling environment for serial manipulators has been implemented in Matlab/Simulink. Findings -The manipulator configuration is defined by using a graphical user interface and the corresponding mathematical model is automatically generated. The model is exported to Matlab for analysis and control design, as well as to Simulink for simulation and verification purposes. Friction and stiction phenomena are included in the model. The simulation results can be visualized in standard plots and scopes as well as through virtual reality animations. Practical implications -The modeling environment has been used in the design of a control system for a seven-degree-of-freedom manipulator in a tunnel-boring machine. Originality/value -Information on the implementation of an automated modelling environment to facilitate the simultaneous design of the configuration and the corresponding control system of serial manipulators

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Section: Comparing Signal Plotting and Vr Visualization Of The Resultsmentioning

confidence: 99%

Automated design environment for serial industrial manipulators

Breijs

Klaassens

Babuška

2005

Industrial Robot: An International Journal

Self Cite

View full text Add to dashboard Cite

show abstract

“…7. The task of the erector is to place steel segments such that they form the tunnel lining (Braaksma et al 2004). The erector has in total seven DOFs (q 0 to q 6 ).…”

Section: Manipulator Modelling For a Tbm Manipulatormentioning

confidence: 99%

Matlab Design Environment for Robotic Manipulators

Breijs

Klaassens

Babuška

2005

IFAC Proceedings Volumes

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“…The control design for the RM is challenging since its dynamics includes some complexities such as nonlinear terms [1], friction forces [2], uncertainties [2,3]. In order to provide position/force tracking for the RMs, feedback linearization based controllers [4,5], adaptive controllers [6][7][8][9], neural network (NN) based controllers [1,2] and robust controller [3] are proposed. The techniques used in [4,5] require exactly/partially known RM dynamics and the works in [6][7][8][9] assumed that the dynamic model of RMs is linearly parameterizable.…”

Section: Introductionmentioning

confidence: 99%

“…In order to provide position/force tracking for the RMs, feedback linearization based controllers [4,5], adaptive controllers [6][7][8][9], neural network (NN) based controllers [1,2] and robust controller [3] are proposed. The techniques used in [4,5] require exactly/partially known RM dynamics and the works in [6][7][8][9] assumed that the dynamic model of RMs is linearly parameterizable. However, the obligations of the proposed controllers in [4][5][6][7][8][9] might not be fulfilled in practice.…”

Section: Introductionmentioning

confidence: 99%

“…The techniques used in [4,5] require exactly/partially known RM dynamics and the works in [6][7][8][9] assumed that the dynamic model of RMs is linearly parameterizable. However, the obligations of the proposed controllers in [4][5][6][7][8][9] might not be fulfilled in practice. Furthermore, the position tracking for MRs is problematic due to included nonholonomic constraints [10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

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Robust Position/Force Control of Nonholonomic Mobile Manipulator for Constrained Motion on Surface in Task Space

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Hybrid Control Design for a Robot Manipulator in a Shield Tunneling Machine

Cited by 7 publications

References 4 publications

Automated design environment for serial industrial manipulators

Automated design environment for serial industrial manipulators

Matlab Design Environment for Robotic Manipulators

Robust Position/Force Control of Nonholonomic Mobile Manipulator for Constrained Motion on Surface in Task Space

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