Abstract
In this paper, force planning for underground articulated robot is studied and the governing equations of interaction between motion and soil-structure are formulated. The objective is to develop a new swerving manner in virtue of soil-structure interaction, which affects the behavior of the underground articulated robot in path tracking. The system inputs are the thrust forces on the rear and the articulation actuator. Consideration of the machine-soil interaction allows for the representation of the drift-off course due to swerving typically observed in shield tunnelling. A general force-planning model is established for path tracking of shield machine. Lastly, a simulation is adopted to show the real states during excavating.
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© 2008 Springer-Verlag Berlin Heidelberg
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Huang, Y., Xiong, Y. (2008). Force Planning for Underground Articulated Robot. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_8
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DOI: https://doi.org/10.1007/978-3-540-88513-9_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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