A kinematic control algorithm for blasthole drilling robotic arm in tunneling | Zendy

Nguyễn Hồng Thái | Zendy; Thai Quang Nguyen | Zendy

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A kinematic control algorithm for blasthole drilling robotic arm in tunneling

Author(s) -

Nguyễn Hồng Thái,

Thai Quang Nguyen

Publication year - 2017

Publication title -

science and technology development journal

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.

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