Computer-controlled automated jumbo drilling robot manipulator
Tóm tắt
This programme involves the study of the technique of using a micro-computer to control a rock drilling machine. The motion of an existing jumbo machine has been successfully analysed. The kinematic control equations are established for any given geometrical configuration. The computer software has been written to demonstrate its feasibility. The needs of hardware implementation are also discussed.
Tài liệu tham khảo
Benson, B. (1985)Rotary and Linear Electrohydraulic Stepping Actuators, MTS Systems Corporation, Minneapolis, Minnesota, USA. Company monograph.
Berghahl, S.G. (1976) Automatic control in percussion drilling, inThe Proceedings of the 2nd IFAC Symposium on Automation in Mining, Mineral and Metal Processing, Johannesburg, South Africa, pp. 627–30.
Ho, C.Y. and Copeland, K.W. (1982) Solution of kinematic equations for robot manipulators, inDigital Systems for Industrial Automation, Vol. 1, No. 4, pp. 335–52.
Ranky, P.G. and Ho, C.Y. (1985)Robot Modelling—Control and Application with Software, IFS, Springer-Verlag.