Task-oriented force control of parallel link mechanism for assembly of segments of tunnel bolling machine

This paper propose a task-oriented force control scheme for the assembly of segments of a tunnel bolling machine. First, we design a generalized coordinate system referred to a task-oriented coordinate system, so that the position and orientation of a segment will be adjusted compliantly according to the external force from existing segments. Then, we design a hybrid position/force control algorithm for a parallel link mechanism with hydraulic actuators. The system is applied to the experimental assembly system of honey-comb shaped segments and the experimental results illustrate the validity of the proposed system.