Open AccessA kinematic control algorithm for blasthole drilling robotic arm in tunneling
Author(s) -
Nguyễn Hồng Thái,
Tuan Hung Nguyen
Publication year - 2017
Publication title -
khoa học công nghệ
Language(s) - English
Resource type - Journals
ISSN - 1859-0128
DOI - 10.32508/stdj.v20ik5.1153
Subject(s) - drill , drilling , kinematics , task (project management) , robot , work (physics) , robotic arm , controller (irrigation) , engineering , simulation , computer science , control engineering , marine engineering , mechanical engineering , artificial intelligence , systems engineering , agronomy , physics , classical mechanics , biology
The most typical method of tunneling in complicated geographical conditions is still blasthole drilling. To improve the efficiency of the work, Vietnam and several other countries have used drilling devices fitted with self-propelled hydraulic seven-link robotic arms which can also be manually controlled to modernize the drilling and blasting processes and improve the accuracy of the work. The task of controlling the robotic arm to automatically drill the holes exactly as specified in the passport of blasting prepared by geotechnical and underground construction engineers requires a control algorithm for the controller of the robot. The matter will be clearly presented in this article.