Multi-directional assembly of tunnel segments using a force controlled parallel link robot with fuzzy compensation

Achieving assembly in different inclination angles for tunnel construction would be a difficult task because of gravity forces changing and hence actuators' friction forces. In this paper, we introduce the experimental results for multi-directional segments assembly of a shield tunnel excavation using a hydraulic parallel link robot. A force/motion control algorithm with model-based actuators' forces fuzzy compensation is implemented in different inclination angles.