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 language | English |
|---|---|
| Title of host publication | AETA 2016: Recent Advances in Electrical Engineering and Related Sciences - Theory and Application |
| Publisher | Springer Verlag |
| Pages | 713-722 |
| Number of pages | 10 |
| Volume | 415 LNEE |
| ISBN (Print) | 9783319509037 |
| DOIs | |
| Publication status | Published - 2017 |
| Externally published | Yes |
| Event | Proceedings of the International Conference on Advances in Electrical Engineering and Related Sciences - Theory and Application, AETA 2016 - Busan, Korea, Republic of Duration: 2016 Dec 8 → 2016 Dec 10 |
Publication series
| Name | Lecture Notes in Electrical Engineering |
|---|---|
| Volume | 415 LNEE |
| ISSN (Print) | 18761100 |
| ISSN (Electronic) | 18761119 |
Other
| Other | Proceedings of the International Conference on Advances in Electrical Engineering and Related Sciences - Theory and Application, AETA 2016 |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 16/12/8 → 16/12/10 |
Fingerprint
Keywords
- Hydraulic robot
- Rock grinding
- Torque control
- Underwater construction
- Valve-controlled hydraulic system
- Velocity control
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
Cite this
Active control for rock grinding works of an underwater construction robot consisting of hydraulic rotary and linear actuators. / Kim, Hyogon; Choi, Youngho; Park, Jeoungwoo; Lee, Jung Woo; Kim, Jong Geol; Lee, Hyojun; Lee, Jong Deuk; Suh, Jinho.
AETA 2016: Recent Advances in Electrical Engineering and Related Sciences - Theory and Application. Vol. 415 LNEE Springer Verlag, 2017. p. 713-722 (Lecture Notes in Electrical Engineering; Vol. 415 LNEE).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Active control for rock grinding works of an underwater construction robot consisting of hydraulic rotary and linear actuators
AU - Kim, Hyogon
AU - Choi, Youngho
AU - Park, Jeoungwoo
AU - Lee, Jung Woo
AU - Kim, Jong Geol
AU - Lee, Hyojun
AU - Lee, Jong Deuk
AU - Suh, Jinho
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Hydraulic robot
KW - Rock grinding
KW - Torque control
KW - Underwater construction
KW - Valve-controlled hydraulic system
KW - Velocity control
UR - http://www.scopus.com/inward/record.url?scp=85009488879&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85009488879&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-50904-4_72
DO - 10.1007/978-3-319-50904-4_72
M3 - Conference contribution
AN - SCOPUS:85009488879
SN - 9783319509037
VL - 415 LNEE
T3 - Lecture Notes in Electrical Engineering
SP - 713
EP - 722
BT - AETA 2016: Recent Advances in Electrical Engineering and Related Sciences - Theory and Application
PB - Springer Verlag
ER -