A. Gasparetto, R. Vidoni, V. Zanotto
Design of a Mechatronic System for the Control of a Spatial Mechanism in a Tunnel Digging Machine
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

Abstract: In this work a complex spatial manipulator for forepoling is studied in order to automatize the positioning task that at present is carried out with slow and not programmable manual routines. In order to find the position of the machine in the tunnel reference system and localize it, the direct kinematic problem for the spatial mechanism is considered, then the inverse kinematics is solved by means of a geometrical approach. Taking into account the physical constraints of the structure and of the actuators, the two redundancies of the manipulator are exploited in order to achieve a suitable solution. The mechatronic system described in this work was then implemented on a commercial tunnel digging machine.

Area: Controllo di Sistemi Meccanici

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