Active control for rock grinding works of an underwater construction robot consisting of hydraulic rotary and linear actuators

Hyogon Kim, Youngho Choi, Jeoungwoo Park, Jung Woo Lee, Jong Geol Kim, Hyojun Lee, Jong Deuk Lee, Jinho Suh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The rock grinding, one of the purposes of the underwater construction robot, is done by the rotation torque of the rock grinding machine. The rotation torque of the rock grinding machine is proportional to the force that the robot arm applies to the rock grinding machine. If the robot arm applies excessive force the rock grinding machine halts. In contrast, unless the force is sufficient, the rock grinding machine bounces. Thus, the force applied to the rock grinding machine by the robot arm for rock grinding should always be adequate. When the underwater construction robot is remotely controlled, the operator has to repeatedly manipulate the proportional control valve to maintain an optimal torque, which requires advanced operating skills even on land and causes tiredness even for skilled operators. The present paper proposes an active control technique for maintaining the optimal torque and speed for the rock grinding machine. In order to evaluate the effect of the proposed control method, the simulations and experiments were performed.

Original languageEnglish
Title of host publicationAETA 2016
Subtitle of host publicationRecent Advances in Electrical Engineering and Related Sciences - Theory and Application
EditorsVo Hoang Duy, Tran Trong Dao, Ivan Zelinka, Sang Bong Kim, Nguyen Tan Tien
PublisherSpringer Verlag
Pages713-722
Number of pages10
ISBN (Print)9783319509037
DOIs
Publication statusPublished - 2017
Externally publishedYes
EventProceedings of the International Conference on Advances in Electrical Engineering and Related Sciences - Theory and Application, AETA 2016 - Busan, Korea, Republic of
Duration: 2016 Dec 82016 Dec 10

Publication series

NameLecture Notes in Electrical Engineering
Volume415 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

OtherProceedings of the International Conference on Advances in Electrical Engineering and Related Sciences - Theory and Application, AETA 2016
Country/TerritoryKorea, Republic of
CityBusan
Period16/12/816/12/10

Keywords

  • Hydraulic robot
  • Rock grinding
  • Torque control
  • Underwater construction
  • Valve-controlled hydraulic system
  • Velocity control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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